128
Total objective tests
32
Objectives passed
0
Objectives failed
96
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 19014 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039128 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688824 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688824 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074987 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074987 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789163054.23199344 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669722 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669722 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789163054.84633255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.57sINFOros2_control_node[2026-09-11 21:44:15.010] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-09-11 21:44:15.010] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761058 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761058 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_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 + 4.84sINFOobjective_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 + 4.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.90sINFOobjective_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 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOros2_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 1.675438 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675438 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634543 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634543 ms (missed cycles : 4).[0m ×2 + 7.03sINFOjoint_trajectory_controllerReceived new action goal ×3125 + 7.03sINFOjoint_trajectory_controllerAccepted new action goal ×3125 + 7.03sINFOros2_control_nodeReceived new action goal[0m ×6250 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×6250 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535138 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535138 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988633 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988633 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134679 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134679 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254123 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254123 ms (missed cycles : 2).[0m ×2 + 10.83sWARNros2_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 ×6 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728709 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728709 ms (missed cycles : 2).[0m ×2 + 11.91sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.91sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.91sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.91sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040636 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040636 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598967 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598967 ms (missed cycles : 2).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088399 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088399 ms (missed cycles : 3).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674584 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674584 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777339 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777339 ms (missed cycles : 2).[0m ×2 + 17.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×4 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153822 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153822 ms (missed cycles : 2).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888226 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888226 ms (missed cycles : 2).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836099 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836099 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150892 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150892 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610125 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610125 ms (missed cycles : 2).[0m ×2 + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522163 ms (missed cycles : 2). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522163 ms (missed cycles : 2).[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554228 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554228 ms (missed cycles : 2).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704209 ms (missed cycles : 2). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704209 ms (missed cycles : 2).[0m ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091527 ms (missed cycles : 2). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091527 ms (missed cycles : 2).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494729 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494729 ms (missed cycles : 2).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.793774 ms (missed cycles : 6). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.793774 ms (missed cycles : 6).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672443 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672443 ms (missed cycles : 2).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362764 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362764 ms (missed cycles : 2).[0m ×2 + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993017 ms (missed cycles : 2). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993017 ms (missed cycles : 2).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018066 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018066 ms (missed cycles : 2).[0m ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411143 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411143 ms (missed cycles : 2).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634935 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634935 ms (missed cycles : 2).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776626 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776626 ms (missed cycles : 2).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896953 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896953 ms (missed cycles : 2).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073949 ms (missed cycles : 2). + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073949 ms (missed cycles : 2).[0m ×2 + 38.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132792 ms (missed cycles : 2). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132792 ms (missed cycles : 2).[0m ×2 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881323 ms (missed cycles : 3). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881323 ms (missed cycles : 3).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734839 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734839 ms (missed cycles : 2).[0m ×2 + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076569 ms (missed cycles : 2). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076569 ms (missed cycles : 2).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881539 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881539 ms (missed cycles : 2).[0m ×2 + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849654 ms (missed cycles : 2). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849654 ms (missed cycles : 2).[0m ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809825 ms (missed cycles : 2). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809825 ms (missed cycles : 2).[0m ×2 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038955 ms (missed cycles : 2). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038955 ms (missed cycles : 2).[0m ×2 + 46.90sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163098.69938540 seconds ×3 + 47.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006809 ms (missed cycles : 2). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006809 ms (missed cycles : 2).[0m ×2 + 47.80sINFOobjective_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: ""
+ 47.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789163099.36428404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.98sINFOobjective_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 + 47.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.07sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 48.08sINFOros2_control_node[2026-09-11 21:44:59.518] [info] Received new action goal ×2 + 48.08sINFOros2_control_node[2026-09-11 21:44:59.518] [info] Accepted new action goal ×2 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955586 ms (missed cycles : 2). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955586 ms (missed cycles : 2).[0m ×2 + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364455 ms (missed cycles : 3). + 49.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364455 ms (missed cycles : 3).[0m ×2 + 50.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493120 ms (missed cycles : 2). + 50.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493120 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 157 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 ×4 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.12sINFOros2_control_node[2026-09-11 21:43:23.142] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-11 21:43:23.142] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860496 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860496 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058790 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058790 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204524 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204524 ms (missed cycles : 2).[0m ×2 + 10.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.45sINFOros2_control_node[2026-09-11 21:43:26.471] [info] Received new action goal ×2 + 10.45sINFOros2_control_node[2026-09-11 21:43:26.471] [info] Accepted new action goal ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039172 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039172 ms (missed cycles : 2).[0m ×2 + 10.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718313 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718313 ms (missed cycles : 3).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897136 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897136 ms (missed cycles : 2).[0m ×2 + 13.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 13.44sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.50sINFOros2_control_node[2026-09-11 21:43:29.520] [info] Received new action goal ×2 + 13.50sINFOros2_control_node[2026-09-11 21:43:29.520] [info] Accepted new action goal ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343898 ms (missed cycles : 6). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343898 ms (missed cycles : 6).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239362 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239362 ms (missed cycles : 2).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728879 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728879 ms (missed cycles : 2).[0m ×2 + 16.45sINFOobjective_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 + 16.45sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.45sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.45sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.45sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.876114 ms (missed cycles : 5). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.876114 ms (missed cycles : 5).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891531 ms (missed cycles : 4). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891531 ms (missed cycles : 4).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390822 ms (missed cycles : 3). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390822 ms (missed cycles : 3).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365106 ms (missed cycles : 6). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365106 ms (missed cycles : 6).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.254819 ms (missed cycles : 8). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.254819 ms (missed cycles : 8).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963426 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963426 ms (missed cycles : 2).[0m ×2 + 23.86sWARNros2_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 + 24.02sINFOobjective_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 + 24.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.03sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.03sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.03sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.03sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389982 ms (missed cycles : 4). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389982 ms (missed cycles : 4).[0m ×2 + 24.92sINFOros2_control_node[2026-09-11 21:43:40.941] [info] Received new action goal ×2 + 24.92sINFOros2_control_node[2026-09-11 21:43:40.941] [info] Accepted new action goal ×2 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864997 ms (missed cycles : 2). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864997 ms (missed cycles : 2).[0m ×2 + 26.12sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.13sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.40sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 26.45sINFOros2_control_node[2026-09-11 21:43:42.475] [info] Received new action goal ×2 + 26.45sINFOros2_control_node[2026-09-11 21:43:42.475] [info] Accepted new action goal ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020987 ms (missed cycles : 3). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020987 ms (missed cycles : 3).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518942 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518942 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.442889 ms (missed cycles : 7). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.442889 ms (missed cycles : 7).[0m ×2 + 28.76sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 28.76sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.77sINFOros2_control_node[2026-09-11 21:43:44.792] [info] Received new action goal ×2 + 28.77sINFOros2_control_node[2026-09-11 21:43:44.792] [info] Accepted new action goal ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540308 ms (missed cycles : 5). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540308 ms (missed cycles : 5).[0m ×2 + 29.99sWARNros2_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 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643079 ms (missed cycles : 4). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643079 ms (missed cycles : 4).[0m ×2 + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717941 ms (missed cycles : 2). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717941 ms (missed cycles : 2).[0m ×2 + 31.92sINFOros2_control_node[2026-09-11 21:43:47.942] [info] Received new action goal ×2 + 31.92sINFOros2_control_node[2026-09-11 21:43:47.942] [info] Accepted new action goal ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944531 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944531 ms (missed cycles : 3).[0m ×2 + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687098 ms (missed cycles : 2). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687098 ms (missed cycles : 2).[0m ×2 + 34.54sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 34.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.59sINFOros2_control_node[2026-09-11 21:43:50.613] [info] Received new action goal ×2 + 34.59sINFOros2_control_node[2026-09-11 21:43:50.613] [info] Accepted new action goal ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.033572 ms (missed cycles : 6). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.033572 ms (missed cycles : 6).[0m ×2 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751099 ms (missed cycles : 3). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751099 ms (missed cycles : 3).[0m ×2 + 36.75sWARNros2_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 ×4 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244690 ms (missed cycles : 2). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244690 ms (missed cycles : 2).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162406 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162406 ms (missed cycles : 2).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836551 ms (missed cycles : 4). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836551 ms (missed cycles : 4).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661259 ms (missed cycles : 4). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661259 ms (missed cycles : 4).[0m ×2 + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207201 ms (missed cycles : 2). + 41.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207201 ms (missed cycles : 2).[0m ×2 + 41.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 42.32sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155392 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155392 ms (missed cycles : 2).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873198 ms (missed cycles : 3). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873198 ms (missed cycles : 3).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999792 ms (missed cycles : 3). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999792 ms (missed cycles : 3).[0m ×2 + 45.28sINFOros2_control_node[2026-09-11 21:44:01.304] [info] Received new action goal ×2 + 45.28sINFOros2_control_node[2026-09-11 21:44:01.304] [info] Accepted new action goal ×2 + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753404 ms (missed cycles : 2). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753404 ms (missed cycles : 2).[0m ×2 + 46.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789163042.46106887 seconds ×3 + 47.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.03sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035176 ms (missed cycles : 5). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035176 ms (missed cycles : 5).[0m ×2 + 47.23sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789163043.24873567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746121 ms (missed cycles : 5). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746121 ms (missed cycles : 5).[0m ×2 + 48.44sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 48.46sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.47sINFOros2_control_node[2026-09-11 21:44:04.494] [info] Received new action goal ×2 + 48.47sINFOros2_control_node[2026-09-11 21:44:04.494] [info] Accepted new action goal ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175487 ms (missed cycles : 5). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175487 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 89 warnings · 13530 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2222 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2222 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4444 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4444 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849654 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849654 ms (missed cycles : 2).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809825 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809825 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038955 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038955 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 2.92sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163098.69938540 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006809 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006809 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789163099.36428404 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.10sINFOros2_control_node[2026-09-11 21:44:59.518] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-11 21:44:59.518] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955586 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955586 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.40sINFOobjective_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 + 5.44sINFOobjective_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 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364455 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364455 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493120 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493120 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939596 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939596 ms (missed cycles : 5).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741731 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741731 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432271 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432271 ms (missed cycles : 2).[0m ×2 + 10.61sWARNros2_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 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575971 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575971 ms (missed cycles : 3).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077231 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077231 ms (missed cycles : 2).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608238 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608238 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948460 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948460 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041717 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041717 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486302 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.486302 ms (missed cycles : 4).[0m ×2 + 16.80sWARNros2_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 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819207 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819207 ms (missed cycles : 2).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214243 ms (missed cycles : 2). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214243 ms (missed cycles : 2).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143268 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143268 ms (missed cycles : 2).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721680 ms (missed cycles : 2). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721680 ms (missed cycles : 2).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866129 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866129 ms (missed cycles : 2).[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 25.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 26.08sINFOobjective_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: ""
+ 26.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 26.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.39sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 26.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.40sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 26.40sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 230 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807184 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807184 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.457705 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.457705 ms (missed cycles : 6).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 1.94sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.96sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.09sINFOobjective_server_nodeFound path in 1 iterations (0.00507916 s). ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680234 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680234 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.33sINFOros2_control_node[2026-09-11 21:43:02.400] [info] Received new action goal ×2 + 2.33sINFOros2_control_node[2026-09-11 21:43:02.400] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-11 21:43:02.774] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-11 21:43:02.774] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789162982.78143597 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744537 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744537 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789162983.44254756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.55sINFOros2_control_node[2026-09-11 21:43:03.626] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-11 21:43:03.626] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285845 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285845 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475307 ms (missed cycles : 6). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475307 ms (missed cycles : 6).[0m ×2 + 6.08sINFOros2_control_node[2026-09-11 21:43:06.147] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-09-11 21:43:06.147] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774744 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774744 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746450 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746450 ms (missed cycles : 2).[0m ×2 + 7.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200811 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200811 ms (missed cycles : 4).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694098 ms (missed cycles : 7). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694098 ms (missed cycles : 7).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496317 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496317 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607105 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607105 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2).[0m ×2 + 13.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789162994.71922421 seconds ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3).[0m ×2 + 15.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.25sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789162995.37861729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789162995.47875834 seconds ×3 + 15.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.95sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.11sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 16.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.12sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 16.12sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 18.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873198 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873198 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_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 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.58sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.58sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.58sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999792 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999792 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.46sINFOros2_control_node[2026-09-11 21:44:01.304] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-09-11 21:44:01.304] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753404 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753404 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789163042.46106887 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035176 ms (missed cycles : 5). + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035176 ms (missed cycles : 5).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789163043.24873567 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746121 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.746121 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.65sINFOros2_control_node[2026-09-11 21:44:04.494] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-11 21:44:04.494] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175487 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175487 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.370562 ms (missed cycles : 6). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.370562 ms (missed cycles : 6).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041489 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041489 ms (missed cycles : 4).[0m ×2 + 8.35sINFOobjective_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 + 8.35sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.35sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.35sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898758 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898758 ms (missed cycles : 4).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.662685 ms (missed cycles : 7). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.662685 ms (missed cycles : 7).[0m ×2 + 10.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344557 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344557 ms (missed cycles : 2).[0m ×2 + 10.76sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.79sINFOros2_control_node[2026-09-11 21:44:10.627] [info] Received new action goal ×2 + 10.79sINFOros2_control_node[2026-09-11 21:44:10.627] [info] Accepted new action goal ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039128 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039128 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688824 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688824 ms (missed cycles : 2).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074987 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074987 ms (missed cycles : 2).[0m ×2 + 14.39sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789163054.23199344 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669722 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669722 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.94sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789163054.84633255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.17sINFOros2_control_node[2026-09-11 21:44:15.010] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-11 21:44:15.010] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761058 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761058 ms (missed cycles : 2).[0m ×2 + 16.23sWARNros2_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 + 16.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.44sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675438 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675438 ms (missed cycles : 2).[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634543 ms (missed cycles : 4). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634543 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.2s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sERRORobjective_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: 1789162937.37821364 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.30sINFOobjective_server_nodecaller: ×8 + 2.30sINFOobjective_server_nodetype: 0 ×8 + 2.30sINFOobjective_server_nodename: "" ×8 + 2.30sINFOobjective_server_nodeinstance_id: "" ×8 + 2.30sINFOobjective_server_node ×8 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125660 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125660 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377372 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377372 ms (missed cycles : 2).[0m ×2 + 7.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.57sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 1 iterations (0.00397763 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.23sINFOros2_control_node[2026-09-11 21:42:23.919] [info] Received new action goal ×2 + 8.23sINFOros2_control_node[2026-09-11 21:42:23.919] [info] Accepted new action goal ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515183 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515183 ms (missed cycles : 2).[0m ×2 + 9.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438711 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438711 ms (missed cycles : 2).[0m ×2 + 10.53sINFOros2_control_node[2026-09-11 21:42:26.222] [info] Received new action goal ×2 + 10.53sINFOros2_control_node[2026-09-11 21:42:26.222] [info] Accepted new action goal ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525174 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525174 ms (missed cycles : 3).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 12.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.37sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 12.37sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 13.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.97sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.16sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 16.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 203 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 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009209 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009209 ms (missed cycles : 2).[0m ×2 + 0.45sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.72sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.72sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.73sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789162969.80112171 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745708 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745708 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922193 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922193 ms (missed cycles : 3).[0m ×2 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_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 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789162972.41387320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776820 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776820 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.57sINFOros2_control_node[2026-09-11 21:42:52.617] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-09-11 21:42:52.617] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161114 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161114 ms (missed cycles : 5).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.078780 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.078780 ms (missed cycles : 6).[0m ×2 + 6.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512514 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512514 ms (missed cycles : 4).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832292 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832292 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499428 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499428 ms (missed cycles : 3).[0m ×2 + 9.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.29sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 9.55sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 9.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.72sINFOobjective_server_nodeFound path in 5 iterations (0.00500311 s). ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 9.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377899 ms (missed cycles : 4). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377899 ms (missed cycles : 4).[0m ×2 + 10.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 10.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 10.43sINFOros2_control_node[2026-09-11 21:42:59.481] [info] Received new action goal ×2 + 10.43sINFOros2_control_node[2026-09-11 21:42:59.481] [info] Accepted new action goal ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807184 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807184 ms (missed cycles : 2).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.457705 ms (missed cycles : 6). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.457705 ms (missed cycles : 6).[0m ×2 + 12.96sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 12.96sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 12.97sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 12.97sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.98sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 13.11sINFOobjective_server_nodeFound path in 1 iterations (0.00507916 s). ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680234 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680234 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 13.35sINFOros2_control_node[2026-09-11 21:43:02.400] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-09-11 21:43:02.400] [info] Accepted new action goal ×2 + 13.72sINFOobjective_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 + 13.72sINFOros2_control_node[2026-09-11 21:43:02.774] [info] Got request to cancel active goal. ×2 + 13.72sINFOros2_control_node[2026-09-11 21:43:02.774] [info] Canceling active goal... ×2 + 13.73sERRORobjective_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: 1789162982.78143597 seconds ×3 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744537 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744537 ms (missed cycles : 3).[0m ×2 + 14.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.27sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789162983.44254756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 14.58sINFOros2_control_node[2026-09-11 21:43:03.626] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-09-11 21:43:03.626] [info] Accepted new action goal ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285845 ms (missed cycles : 4). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285845 ms (missed cycles : 4).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475307 ms (missed cycles : 6). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475307 ms (missed cycles : 6).[0m ×2 + 17.10sINFOros2_control_node[2026-09-11 21:43:06.147] [info] Received new action goal ×2 + 17.10sINFOros2_control_node[2026-09-11 21:43:06.147] [info] Accepted new action goal ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774744 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774744 ms (missed cycles : 2).[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 3.012914 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012914 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2).[0m ×2 + 1.52sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332491 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332491 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789163153.28542733 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818536 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818536 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.67sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.67sINFOobjective_server_nodecaller: ×8 + 3.67sINFOobjective_server_nodetype: 0 ×8 + 3.67sINFOobjective_server_nodename: "" ×8 + 3.67sINFOobjective_server_nodeinstance_id: "" ×8 + 3.67sINFOobjective_server_node ×8 + 3.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789163153.96062827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-11 21:45:54.094] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-11 21:45:54.094] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670218 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670218 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078897 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078897 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595941 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595941 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453316 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453316 ms (missed cycles : 3).[0m ×2 + 7.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.12sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332799 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332799 ms (missed cycles : 3).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615312 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615312 ms (missed cycles : 4).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 12.72sWARNros2_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 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 14.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sERRORobjective_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: 1789163164.28090167 seconds ×3 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 15.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.31sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sINFOobjective_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 + 15.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 15.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.97sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 16.14sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 16.14sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.15sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 16.16sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680700 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680700 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065253 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065253 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.96sINFOros2_control_node[2026-09-11 21:42:05.795] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-11 21:42:05.795] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879128 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879128 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_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 + 2.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.54sINFOros2_control_node[2026-09-11 21:42:06.371] [info] Got request to cancel active goal. ×2 + 2.54sINFOros2_control_node[2026-09-11 21:42:06.371] [info] Canceling active goal... ×2 + 2.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789162926.38755083 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438389 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438389 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_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: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.10sINFOobjective_server_nodecaller: ×6 + 3.10sINFOobjective_server_nodetype: 0 ×6 + 3.10sINFOobjective_server_nodename: "" ×6 + 3.10sINFOobjective_server_nodeinstance_id: "" ×6 + 3.10sINFOobjective_server_node ×6 + 3.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789162926.99752045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.40sINFOros2_control_node[2026-09-11 21:42:07.233] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-11 21:42:07.233] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534514 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534514 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404465 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404465 ms (missed cycles : 2).[0m ×2 + 5.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.68sINFOros2_control_node[2026-09-11 21:42:09.511] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-09-11 21:42:09.511] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952062 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952062 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086685 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086685 ms (missed cycles : 2).[0m ×2 + 8.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803198 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803198 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728232 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728232 ms (missed cycles : 3).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 13.55sERRORobjective_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: 1789162937.37821364 seconds ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.14sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.15sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 15.15sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.27sWARNros2_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 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 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 ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.65sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 5.84sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.16sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698021 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698021 ms (missed cycles : 4).[0m ×2 + 7.41sWARNros2_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 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473272 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473272 ms (missed cycles : 3).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054776 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054776 ms (missed cycles : 2).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.96sINFOros2_control_node[2026-09-11 21:42:02.457] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-09-11 21:42:02.457] [info] Accepted new action goal ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937770 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937770 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680700 ms (missed cycles : 4). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680700 ms (missed cycles : 4).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065253 ms (missed cycles : 5). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065253 ms (missed cycles : 5).[0m ×2 + 13.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-11 21:42:05.795] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-11 21:42:05.795] [info] Accepted new action goal ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879128 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879128 ms (missed cycles : 2).[0m ×2 + 13.44sWARNros2_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 + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOros2_control_node[2026-09-11 21:42:06.371] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-09-11 21:42:06.371] [info] Canceling active goal... ×2 + 13.89sERRORobjective_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: 1789162926.38755083 seconds ×3 + 13.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438389 ms (missed cycles : 4). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438389 ms (missed cycles : 4).[0m ×2 + 14.43sINFOobjective_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: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789162926.99752045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 14.74sINFOros2_control_node[2026-09-11 21:42:07.233] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-09-11 21:42:07.233] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534514 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534514 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404465 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404465 ms (missed cycles : 2).[0m ×2 + 17.00sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 17.01sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.02sINFOros2_control_node[2026-09-11 21:42:09.511] [info] Received new action goal ×2 + 17.02sINFOros2_control_node[2026-09-11 21:42:09.511] [info] Accepted new action goal ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952062 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952062 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 54 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608066 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608066 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331691 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331691 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727288 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727288 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734000 ms (missed cycles : 5). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734000 ms (missed cycles : 5).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171025 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171025 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945344 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945344 ms (missed cycles : 3).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757279 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757279 ms (missed cycles : 2).[0m ×2 + 13.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.44sERRORobjective_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: 1789163142.77530193 seconds ×3 + 13.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.99sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789163143.37959766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954052 ms (missed cycles : 6). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954052 ms (missed cycles : 6).[0m ×2 + 14.33sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 14.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.35sINFOros2_control_node[2026-09-11 21:45:43.681] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-09-11 21:45:43.681] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901484 ms (missed cycles : 4). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901484 ms (missed cycles : 4).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898745 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898745 ms (missed cycles : 3).[0m ×2 + 16.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.70 s); wrist_camera (1.70 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 58 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583114 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583114 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.977703 ms (missed cycles : 6). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.977703 ms (missed cycles : 6).[0m ×2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 5 iterations (0.00525173 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701803 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701803 ms (missed cycles : 2).[0m ×2 + 9.30sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.44sINFOros2_control_node[2026-09-11 21:42:47.236] [info] Received new action goal ×2 + 9.44sINFOros2_control_node[2026-09-11 21:42:47.236] [info] Accepted new action goal ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493204 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493204 ms (missed cycles : 2).[0m ×2 + 11.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009209 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009209 ms (missed cycles : 2).[0m ×2 + 11.70sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.97sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.97sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.98sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789162969.80112171 seconds ×3 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745708 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745708 ms (missed cycles : 3).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922193 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922193 ms (missed cycles : 3).[0m ×2 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.62sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789162972.41387320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776820 ms (missed cycles : 5). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.776820 ms (missed cycles : 5).[0m ×2 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 14.82sINFOros2_control_node[2026-09-11 21:42:52.617] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-09-11 21:42:52.617] [info] Accepted new action goal ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161114 ms (missed cycles : 5). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161114 ms (missed cycles : 5).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.078780 ms (missed cycles : 6). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.078780 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 54 warnings · 2262 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.555643 ms (missed cycles : 7). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.555643 ms (missed cycles : 7).[0m ×2 + 7.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.81sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048590 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048590 ms (missed cycles : 2).[0m ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 1 iterations (0.00357529 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.44sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.46sINFOros2_control_node[2026-09-11 21:45:26.038] [info] Received new action goal ×2 + 8.46sINFOros2_control_node[2026-09-11 21:45:26.038] [info] Accepted new action goal ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745024 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745024 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793541 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793541 ms (missed cycles : 2).[0m ×2 + 10.76sINFOros2_control_node[2026-09-11 21:45:28.340] [info] Received new action goal ×2 + 10.76sINFOros2_control_node[2026-09-11 21:45:28.340] [info] Accepted new action goal ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 12.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.59sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 12.59sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 13.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 14.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.77sINFOobjective_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: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 15.05sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 15.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 16.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.97sINFOros2_control_node[2026-09-11 21:42:34.212] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-11 21:42:34.212] [info] Accepted new action goal ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687389 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687389 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.049743 ms (missed cycles : 6). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.049743 ms (missed cycles : 6).[0m ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 9.35sINFOros2_control_node[2026-09-11 21:42:36.599] [info] Received new action goal ×2 + 9.35sINFOros2_control_node[2026-09-11 21:42:36.599] [info] Accepted new action goal ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277450 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277450 ms (missed cycles : 2).[0m ×2 + 9.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 11.71sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 13.62sINFOobjective_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 + 13.63sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 13.63sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 13.65sERRORobjective_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: 1789162960.89265895 seconds ×3 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.23sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 14.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.51sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 388 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 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.33sERRORobjective_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: 1789163164.28090167 seconds ×3 + 1.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.90sINFOobjective_server_nodecaller: ×12 + 1.90sINFOobjective_server_nodetype: 0 ×12 + 1.90sINFOobjective_server_nodename: "" ×12 + 1.90sINFOobjective_server_nodeinstance_id: "" ×12 + 1.90sINFOobjective_server_node ×12 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_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 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716181 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716181 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.75sINFOros2_control_node[2026-09-11 21:46:09.699] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-09-11 21:46:09.699] [info] Accepted new action goal ×2 + 6.75sINFOros2_control_node[2026-09-11 21:46:09.699] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629790 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629790 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040638 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040638 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2).[0m ×2 + 11.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2).[0m ×2 + 13.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Got request to cancel active goal. ×2 + 13.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Canceling active goal... ×2 + 13.33sERRORobjective_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: 1789163176.27988625 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 16.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.04sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.09sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 16.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.69sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 52 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171025 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171025 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945344 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945344 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757279 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757279 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1789163142.77530193 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789163143.37959766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954052 ms (missed cycles : 6). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954052 ms (missed cycles : 6).[0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.54sINFOros2_control_node[2026-09-11 21:45:43.681] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-11 21:45:43.681] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901484 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901484 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898745 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898745 ms (missed cycles : 3).[0m ×2 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.70 s); wrist_camera (1.70 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694695 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694695 ms (missed cycles : 2).[0m ×2 + 7.56sINFOros2_control_node[2026-09-11 21:45:47.700] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-09-11 21:45:47.700] [info] Accepted new action goal ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933611 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933611 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733766 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733766 ms (missed cycles : 2).[0m ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012914 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012914 ms (missed cycles : 2).[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2).[0m ×2 + 11.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332491 ms (missed cycles : 3). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332491 ms (missed cycles : 3).[0m ×2 + 13.15sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789163153.28542733 seconds ×3 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818536 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818536 ms (missed cycles : 3).[0m ×2 + 13.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.76sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.82sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789163153.96062827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 13.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.96sINFOros2_control_node[2026-09-11 21:45:54.094] [info] Received new action goal ×2 + 13.96sINFOros2_control_node[2026-09-11 21:45:54.094] [info] Accepted new action goal ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670218 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670218 ms (missed cycles : 3).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078897 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078897 ms (missed cycles : 2).[0m ×2 + 15.86sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595941 ms (missed cycles : 4). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595941 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 8.8s | 46 errors · 39 warnings · 331 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.00sINFOobjective_server_nodecaller: ×8 + 0.00sINFOobjective_server_nodetype: 0 ×8 + 0.00sINFOobjective_server_nodename: "" ×8 + 0.00sINFOobjective_server_nodeinstance_id: "" ×8 + 0.00sINFOobjective_server_node ×8 + 0.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.22sINFOobjective_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 + 2.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163180.33467317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163180.94481730 seconds ×3 + 4.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663858 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663858 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347665 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347665 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184411 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184411 ms (missed cycles : 5).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323501 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323501 ms (missed cycles : 2).[0m ×2 + 9.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897412 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897412 ms (missed cycles : 3).[0m ×2 + 10.10sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.11sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_video_auth_proxy-23process has died [pid 7363, 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 + 10.11sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.12sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORweb_bridge_auth_proxy-22process has died [pid 7361, 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 + 10.12sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.12sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.13sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.13sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.13sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.14sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.14sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.15sINFOvideo_server-21process has finished cleanly [pid 7360] ×2 + 10.15sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.15sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.16sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.16sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.17sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.17sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.17sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.18sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.18sINFOcontroller_managerShutdown request received.... + 10.18sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.18sINFOvideo_server2026/09/11 21:46:26 INF shutting down gracefully ×2 + 10.18sINFOvideo_server2026/09/11 21:46:26 INF [WebRTC] closing ×2 + 10.18sINFOvideo_server2026/09/11 21:46:26 INF [RTSP] closing ×2 + 10.18sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.18sINFOvideo_server2026/09/11 21:46:26 INF waiting for running hooks ×2 + 10.18sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.18sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.18sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.18sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.18sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.18sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.18sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.18sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.18sINFOcontroller_managerShutting down the controller manager. + 10.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.18sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.18sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.18sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.18sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.18sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.18sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.18sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.18sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.18sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.18sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.18sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.18sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.18sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.18sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.19sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.19sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.34sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7359] ×2 + 10.34sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.38sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7285] ×2 + 10.38sINFOcomponent_container_mt-16process has finished cleanly [pid 7288] ×2 + 10.38sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7284] ×2 + 10.39sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.39sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.39sINFOparameter_manager_node-10process has finished cleanly [pid 7282] ×2 + 10.39sINFOwaypoint_manager_node-11process has finished cleanly [pid 7283] ×2 + 10.40sINFOui_teleop_bridge-18process has finished cleanly [pid 7290] ×2 + 10.43sINFOexecute_objective_bridge-17process has finished cleanly [pid 7289] ×2 + 10.45sINFOobjective_server_node[0;m[2026-09-11 21:46:27.269] [moveit_pro_license] [info] ×2 + 10.45sINFOobjective_server_node************************************************* ×4 + 10.45sINFOobjective_server_node* MoveIt Pro License ×2 + 10.45sINFOobjective_server_node* Application has successfully terminated ×2 + 10.45sINFOcomponent_container_mt-15process has finished cleanly [pid 7287] ×2 + 10.51sINFOmove_group-9process has finished cleanly [pid 7281] ×2 + 10.61sINFOobjective_server_node_main-14process has finished cleanly [pid 7286] ×2 + 10.61sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 10.96sINFOros2_control_node-1process has finished cleanly [pid 7230] ×2 + 11.45sINFOweb_bridge-19process has finished cleanly [pid 7291] ×2 + 11.45sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×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 4.152071 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789162994.71922421 seconds ×3 + 1.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789162995.37861729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789162995.47875834 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.23sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 6.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.92sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.07sINFOobjective_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 + 7.08sINFOobjective_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 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.42sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 7.98sWARNros2_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 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.2s | 3 errors · 34 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Got request to cancel active goal. ×2 + 3.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Canceling active goal... ×2 + 3.34sERRORobjective_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: 1789163176.27988625 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.88sINFOobjective_server_nodecaller: ×8 + 3.88sINFOobjective_server_nodetype: 0 ×8 + 3.88sINFOobjective_server_nodename: "" ×8 + 3.88sINFOobjective_server_nodeinstance_id: "" ×8 + 3.88sINFOobjective_server_node ×8 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 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 3.249575 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.10sINFOobjective_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 + 6.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.70sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 + 7.01sWARNros2_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 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163180.33467317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163180.94481730 seconds ×3 + 8.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.22sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.22sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.22sWARNros2_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 + 0.22sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.22sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.22sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.22sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.22sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.22sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.22sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.22sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.22sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.22sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.22sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.22sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.22sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.22sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.22sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.22sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.22sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.22sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.22sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.22sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.22sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.22sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.29sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.29sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.30sINFOcomponent_container_mt[2026-09-11 21:41:48.394] [moveit_pro_license] [info] ×2 + 0.30sINFOcomponent_container_mt************************************************* ×4 + 0.30sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.30sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.30sINFOforce_torque_sensor_broadcasterconfigure successful + 0.30sINFOros2_control_nodeconfigure successful[0m ×2 + 0.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.61sINFOros2-2process has finished cleanly [pid 7231] ×2 + 0.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.68sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.68sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.69sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.69sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.69sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.77sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.77sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.93sWARNobjective_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 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.99sINFOros2-4process has finished cleanly [pid 7244] ×2 + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 1.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042283 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042283 ms (missed cycles : 3).[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.39sINFOros2-5process has finished cleanly [pid 7245] ×2 + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 1.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.53sINFOros2_control_node[2026-09-11 21:41:49.626] [info] Controller state will be published at 10 Hz. ×2 + 1.53sINFOros2_control_node[2026-09-11 21:41:49.627] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.85sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.85sINFOros2-7process has finished cleanly [pid 7247] ×2 + 1.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 1.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 2.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.03sINFOros2_control_node[2026-09-11 21:41:50.123] [info] Controller state will be published at 20 Hz. ×2 + 2.03sINFOros2_control_node[2026-09-11 21:41:50.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.30sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.30sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.30sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.30sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.30sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 2.30sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 2.31sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.34sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.34sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.34sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.34sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2-8process has finished cleanly [pid 7248] ×2 + 2.35sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.35sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.66sINFOobjective_server_nodecaller: ×14 + 2.66sINFOobjective_server_nodetype: 0 ×14 + 2.66sINFOobjective_server_nodename: "" ×14 + 2.66sINFOobjective_server_nodeinstance_id: "" ×14 + 2.66sINFOobjective_server_node ×14 + 2.66sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.66sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.66sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.70sINFOros2-3process has finished cleanly [pid 7232] ×2 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 2.73sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 2.73sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.77sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.77sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.81sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.81sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 2.81sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.14sINFOros2-6process has finished cleanly [pid 7246] ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 4.40sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 5.66sWARNros2_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 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 7.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.27sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.27sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 7.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.85sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.05sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 8.05sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.8s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607105 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789162994.71922421 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789162995.37861729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789162995.47875834 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 24 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sERRORobjective_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: 1789163164.28090167 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.87sINFOobjective_server_nodecaller: ×6 + 3.87sINFOobjective_server_nodetype: 0 ×6 + 3.87sINFOobjective_server_nodename: "" ×6 + 3.87sINFOobjective_server_nodeinstance_id: "" ×6 + 3.87sINFOobjective_server_node ×6 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2). | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-11 21:42:26.222] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-11 21:42:26.222] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525174 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525174 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.63sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2).[0m ×2 + 0.26sINFOobjective_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 + 0.27sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Got request to cancel active goal. ×2 + 0.27sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Canceling active goal... ×2 + 0.27sERRORobjective_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: 1789163176.27988625 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.82sINFOobjective_server_nodecaller: ×8 + 0.82sINFOobjective_server_nodetype: 0 ×8 + 0.82sINFOobjective_server_nodename: "" ×8 + 0.82sINFOobjective_server_nodeinstance_id: "" ×8 + 0.82sINFOobjective_server_node ×8 + 0.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.03sINFOobjective_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 + 3.03sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 + 3.94sWARNros2_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 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163180.33467317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163180.94481730 seconds ×3 + 4.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663858 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663858 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 508 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.626] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.627] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7247] ×2 + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.123] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.80sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.80sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.81sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.81sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 1.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 1.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.64sINFOros2-6process has finished cleanly [pid 7246] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sERRORobjective_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: 1789162937.37821364 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.34sWARNros2_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 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[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 2.477342 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[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 + 2.24sERRORobjective_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: 1789163164.28090167 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.81sINFOobjective_server_nodecaller: ×6 + 2.81sINFOobjective_server_nodetype: 0 ×6 + 2.81sINFOobjective_server_nodename: "" ×6 + 2.81sINFOobjective_server_nodeinstance_id: "" ×6 + 2.81sINFOobjective_server_node ×6 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.34sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2).[0m ×2 + 0.26sINFOobjective_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 + 0.27sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Got request to cancel active goal. ×2 + 0.27sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Canceling active goal... ×2 + 0.27sERRORobjective_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: 1789163176.27988625 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.82sINFOobjective_server_nodecaller: ×8 + 0.82sINFOobjective_server_nodetype: 0 ×8 + 0.82sINFOobjective_server_nodename: "" ×8 + 0.82sINFOobjective_server_nodeinstance_id: "" ×8 + 0.82sINFOobjective_server_node ×8 + 0.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.03sINFOobjective_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 + 3.03sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 + 3.94sWARNros2_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 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882032 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163180.33467317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163180.94481730 seconds ×3 + 4.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546221 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663858 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663858 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.1s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sERRORobjective_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: 1789162937.37821364 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.34sWARNros2_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 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096553 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sERRORobjective_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: 1789162937.37821364 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.34sWARNros2_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 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sERRORobjective_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: 1789162937.37821364 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sERRORobjective_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: 1789162937.37821364 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sERRORobjective_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: 1789162937.37821364 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798064 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265635 ms (missed cycles : 5).[0m ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sERRORobjective_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: 1789162937.37821364 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181391 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789162938.04756784 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789162938.12768650 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789162938.78888488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:42:18.983] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416434 ms (missed cycles : 4).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381266 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666021 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367335 ms (missed cycles : 2).[0m ×2 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-11 21:42:28.064] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867985 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866857 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789162949.35990024 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789162949.98567271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789162950.06582403 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676835 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.47sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789162950.71791697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.852] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-11 21:42:30.853] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931890 ms (missed cycles : 2).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104867 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720788 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.699843 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582988 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Received new action goal ×2 + 1.15sINFOros2_control_node[2026-09-11 21:42:38.951] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105018 ms (missed cycles : 6).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733809 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-09-11 21:42:40.878] [info] Canceling active goal... ×2 + 3.09sERRORobjective_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: 1789162960.89265895 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789162961.53874350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (1.0435e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-11 21:42:41.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252973 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623769 ms (missed cycles : 5).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446665 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 92 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807184 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807184 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.457705 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.457705 ms (missed cycles : 6).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 1.94sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 1.95sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.96sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 2.09sINFOobjective_server_nodeFound path in 1 iterations (0.00507916 s). ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680234 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680234 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 2.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.33sINFOros2_control_node[2026-09-11 21:43:02.400] [info] Received new action goal ×2 + 2.33sINFOros2_control_node[2026-09-11 21:43:02.400] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-09-11 21:43:02.774] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-09-11 21:43:02.774] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1789162982.78143597 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_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 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744537 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744537 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×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 + 3.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789162983.44254756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.55sINFOros2_control_node[2026-09-11 21:43:03.626] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-11 21:43:03.626] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285845 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285845 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475307 ms (missed cycles : 6). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.475307 ms (missed cycles : 6).[0m ×2 + 6.08sINFOros2_control_node[2026-09-11 21:43:06.147] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-09-11 21:43:06.147] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774744 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607105 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152071 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684794 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789162994.71922421 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936930 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789162995.37861729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789162995.47875834 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789162996.07779670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-11 21:43:16.191] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031551 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908497 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789162998.19797516 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182392 ms (missed cycles : 2).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604732 ms (missed cycles : 5).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789162999.83781791 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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-11 21:43:20.275] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685754 ms (missed cycles : 4).[0m ×2 + 4.81sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978629 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382731 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039128 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688824 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688824 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074987 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074987 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789163054.23199344 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669722 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669722 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789163054.84633255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.57sINFOros2_control_node[2026-09-11 21:44:15.010] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-09-11 21:44:15.010] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761058 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761058 ms (missed cycles : 2).[0m ×2 + 4.64sWARNros2_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 + 4.84sINFOobjective_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 + 4.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.90sINFOobjective_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 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOros2_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 1.675438 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675438 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634543 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634543 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×344 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×344 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×688 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×688 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050707 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933689 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837995 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789163120.87049627 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_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: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996880 ms (missed cycles : 4).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789163121.59043741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-11 21:45:21.815] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028288 ms (missed cycles : 2).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403775 ms (missed cycles : 2).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-11 21:45:30.175] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045240 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789163131.47060418 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.894322 ms (missed cycles : 6).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.11sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789163132.44481087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_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 2.096072 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096072 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-11 21:45:32.628] [info] Accepted new action goal ×2 + 3.52sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257033 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725897 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171025 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171025 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945344 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945344 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757279 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757279 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1789163142.77530193 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789163143.37959766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954052 ms (missed cycles : 6). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954052 ms (missed cycles : 6).[0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.54sINFOros2_control_node[2026-09-11 21:45:43.681] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-11 21:45:43.681] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901484 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901484 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898745 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898745 ms (missed cycles : 3).[0m ×2 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.70 s); wrist_camera (1.70 s). The render path has stopped producing new frames for them.[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 3.012914 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012914 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2).[0m ×2 + 1.52sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332491 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332491 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789163153.28542733 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_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 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818536 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818536 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789163153.96062827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-11 21:45:54.094] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-11 21:45:54.094] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670218 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670218 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078897 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078897 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595941 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595941 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sERRORobjective_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: 1789163164.28090167 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.87sINFOobjective_server_nodecaller: ×6 + 3.87sINFOobjective_server_nodetype: 0 ×6 + 3.87sINFOobjective_server_nodename: "" ×6 + 3.87sINFOobjective_server_nodeinstance_id: "" ×6 + 3.87sINFOobjective_server_node ×6 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sERRORobjective_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: 1789163164.28090167 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.87sINFOobjective_server_nodecaller: ×6 + 3.87sINFOobjective_server_nodetype: 0 ×6 + 3.87sINFOobjective_server_nodename: "" ×6 + 3.87sINFOobjective_server_nodeinstance_id: "" ×6 + 3.87sINFOobjective_server_node ×6 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sERRORobjective_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: 1789163164.28090167 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.87sINFOobjective_server_nodecaller: ×6 + 3.87sINFOobjective_server_nodetype: 0 ×6 + 3.87sINFOobjective_server_nodename: "" ×6 + 3.87sINFOobjective_server_nodeinstance_id: "" ×6 + 3.87sINFOobjective_server_node ×6 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999281 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477342 ms (missed cycles : 2).[0m ×2 + 1.97sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sERRORobjective_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: 1789163164.28090167 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.87sINFOobjective_server_nodecaller: ×6 + 3.87sINFOobjective_server_nodetype: 0 ×6 + 3.87sINFOobjective_server_nodename: "" ×6 + 3.87sINFOobjective_server_nodeinstance_id: "" ×6 + 3.87sINFOobjective_server_node ×6 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 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 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sERRORobjective_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: 1789163164.28090167 seconds ×3 + 1.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_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 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 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 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sERRORobjective_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: 1789163164.28090167 seconds ×3 + 1.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_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 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 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 |
+ 0.00sWARNros2_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 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675161 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135844 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sERRORobjective_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: 1789163164.28090167 seconds ×3 + 1.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.90sINFOobjective_server_nodecaller: ×6 + 1.90sINFOobjective_server_nodetype: 0 ×6 + 1.90sINFOobjective_server_nodename: "" ×6 + 1.90sINFOobjective_server_nodeinstance_id: "" ×6 + 1.90sINFOobjective_server_node ×6 + 1.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789163164.90102124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789163164.99114799 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.954629 ms (missed cycles : 6).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789163165.58974004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_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 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789163165.61193871 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789163166.25476122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884766 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-11 21:46:06.378] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106356 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Got request to cancel active goal. ×2 + 3.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Canceling active goal... ×2 + 3.34sERRORobjective_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: 1789163176.27988625 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 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 3.249575 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.10sINFOobjective_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 + 6.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.70sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.568724 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048475 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179559 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712485 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Got request to cancel active goal. ×2 + 3.33sINFOros2_control_node[2026-09-11 21:46:16.275] [info] Canceling active goal... ×2 + 3.34sERRORobjective_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: 1789163176.27988625 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163176.88459015 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 3.249575 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249575 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110776 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163178.44473052 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789163179.03955793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.10sINFOobjective_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 + 6.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789163179.04162908 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321074 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.70sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789163179.69518518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789163179.73643446 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 42 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/2026-09-11-21-41-43-693699-7513d7d90866-7182 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339054 ms (missed cycles : 3). + 0.89sINFOros2_control_node-1process started with pid [7230] ×2 + 0.89sINFOmove_group-9process started with pid [7281] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [7282] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [7283] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [7284] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [7285] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [7286] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [7287] ×2 + 0.89sINFOcomponent_container_mt-16process started with pid [7288] ×2 + 0.89sINFOexecute_objective_bridge-17process started with pid [7289] ×2 + 0.89sINFOui_teleop_bridge-18process started with pid [7290] ×2 + 0.89sINFOweb_bridge-19process started with pid [7291] ×2 + 0.89sINFOtf2_web_republisher_node-20process started with pid [7359] ×2 + 0.89sINFOvideo_server-21process started with pid [7360] ×2 + 0.89sINFOweb_bridge_auth_proxy-22process started with pid [7361] ×2 + 0.89sINFOweb_video_auth_proxy-23process started with pid [7363] ×2 + 0.89sINFOros2-2process started with pid [7231] ×2 + 0.89sINFOros2-3process started with pid [7232] ×2 + 0.89sINFOros2-4process started with pid [7244] ×2 + 0.89sINFOros2-5process started with pid [7245] ×2 + 0.89sINFOros2-6process started with pid [7246] ×2 + 0.89sINFOros2-7process started with pid [7247] ×2 + 0.89sINFOros2-8process started with pid [7248] ×2 + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.90sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339054 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.94sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF configuration loaded from /tmp/moveit-webrtc-h6t7dije/mediamtx.yml ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.54sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.54sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084159 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084159 ms (missed cycles : 4).[0m ×2 + 1.91sINFOmove_group[2026-09-11 21:41:45.979] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.07sINFOwaypoint_manager_node[2026-09-11 21:41:46.141] [moveit_pro_license] [info] ×2 + 2.07sINFOwaypoint_manager_node************************************************* ×4 + 2.07sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.07sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.19sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.19sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOros2_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 + 2.21sINFOros2_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 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.28sINFOmove_group ×4 + 2.28sINFOmove_group[92mYou can start planning now![0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924664 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924664 ms (missed cycles : 3).[0m ×2 + 3.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.57sINFOobjective_server_node[2026-09-11 21:41:47.644] [moveit_pro_license] [info] ×2 + 3.57sINFOobjective_server_node************************************************* ×4 + 3.57sINFOobjective_server_node* MoveIt Pro License ×2 + 3.57sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.68sINFOobjective_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 + 3.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.70sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.70sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.24sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.24sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.24sWARNros2_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 + 4.24sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.24sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.24sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.24sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.24sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.24sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.24sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.24sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.24sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.24sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.24sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.24sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.24sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.25sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.25sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.25sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.25sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.25sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.25sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.25sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.25sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.25sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.25sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.25sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.25sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 4.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 4.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.32sINFOcomponent_container_mt[2026-09-11 21:41:48.394] [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 + 4.32sINFOforce_torque_sensor_broadcasterconfigure successful + 4.32sINFOros2_control_nodeconfigure successful[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.33sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.63sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.63sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.63sINFOros2-2process has finished cleanly [pid 7231] ×2 + 4.63sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 4.63sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 4.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.79sINFOros2_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 + 4.79sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.79sWARNros2_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 + 4.96sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 5.02sINFOros2-4process has finished cleanly [pid 7244] ×2 + 5.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 5.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042283 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042283 ms (missed cycles : 3).[0m ×2 + 5.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.41sINFOros2-5process has finished cleanly [pid 7245] ×2 + 5.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 5.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 5.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.55sINFOros2_control_node[2026-09-11 21:41:49.626] [info] Controller state will be published at 10 Hz. ×2 + 5.55sINFOros2_control_node[2026-09-11 21:41:49.627] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.88sINFOros2-7process has finished cleanly [pid 7247] ×2 + 5.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 5.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 6.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.05sINFOros2_control_node[2026-09-11 21:41:50.123] [info] Controller state will be published at 20 Hz. ×2 + 6.05sINFOros2_control_node[2026-09-11 21:41:50.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.33sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.33sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.33sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 6.33sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 6.34sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.36sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.36sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.36sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.36sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.36sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 6.37sINFOros2-8process has finished cleanly [pid 7248] ×2 + 6.37sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.37sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.68sINFOobjective_server_nodecaller: ×10 + 6.68sINFOobjective_server_nodetype: 0 ×10 + 6.68sINFOobjective_server_nodename: "" ×10 + 6.68sINFOobjective_server_nodeinstance_id: "" ×10 + 6.68sINFOobjective_server_node ×10 + 6.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.73sINFOros2-3process has finished cleanly [pid 7232] ×2 + 6.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 6.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 6.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 6.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.79sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.79sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.80sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.80sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.83sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.83sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 6.84sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.16sINFOros2-6process has finished cleanly [pid 7246] ×2 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 8.42sWARNros2_control_nodeCamera render tick took 1.91 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 + 8.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 9.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.03sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 9.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 9.69sWARNros2_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 + 9.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 10.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.14sINFOobjective_server_nodecaller: ×12 + 0.14sINFOobjective_server_nodetype: 0 ×12 + 0.14sINFOobjective_server_nodename: "" ×12 + 0.14sINFOobjective_server_nodeinstance_id: "" ×12 + 0.14sINFOobjective_server_node ×12 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 1.26sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 2.52sWARNros2_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 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.91sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 7.10sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.42sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 443 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.35sINFOobjective_server_nodecaller: ×14 + 0.35sINFOobjective_server_nodetype: 0 ×14 + 0.35sINFOobjective_server_nodename: "" ×14 + 0.36sINFOobjective_server_nodeinstance_id: "" ×14 + 0.36sINFOobjective_server_node ×14 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 7232] ×2 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.51sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.51sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 2.10sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 3.36sWARNros2_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 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.75sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 163 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/2026-09-11-21-41-43-693699-7513d7d90866-7182 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339054 ms (missed cycles : 3). + 0.89sINFOros2_control_node-1process started with pid [7230] ×2 + 0.89sINFOmove_group-9process started with pid [7281] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [7282] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [7283] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [7284] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [7285] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [7286] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [7287] ×2 + 0.89sINFOcomponent_container_mt-16process started with pid [7288] ×2 + 0.89sINFOexecute_objective_bridge-17process started with pid [7289] ×2 + 0.89sINFOui_teleop_bridge-18process started with pid [7290] ×2 + 0.89sINFOweb_bridge-19process started with pid [7291] ×2 + 0.89sINFOtf2_web_republisher_node-20process started with pid [7359] ×2 + 0.89sINFOvideo_server-21process started with pid [7360] ×2 + 0.89sINFOweb_bridge_auth_proxy-22process started with pid [7361] ×2 + 0.89sINFOweb_video_auth_proxy-23process started with pid [7363] ×2 + 0.89sINFOros2-2process started with pid [7231] ×2 + 0.89sINFOros2-3process started with pid [7232] ×2 + 0.89sINFOros2-4process started with pid [7244] ×2 + 0.89sINFOros2-5process started with pid [7245] ×2 + 0.89sINFOros2-6process started with pid [7246] ×2 + 0.89sINFOros2-7process started with pid [7247] ×2 + 0.89sINFOros2-8process started with pid [7248] ×2 + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.90sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339054 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.94sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF configuration loaded from /tmp/moveit-webrtc-h6t7dije/mediamtx.yml ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.13sINFOvideo_server2026/09/11 21:41:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.54sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.54sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084159 ms (missed cycles : 4). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.084159 ms (missed cycles : 4).[0m ×2 + 1.91sINFOmove_group[2026-09-11 21:41:45.979] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.07sINFOwaypoint_manager_node[2026-09-11 21:41:46.141] [moveit_pro_license] [info] ×2 + 2.07sINFOwaypoint_manager_node************************************************* ×4 + 2.07sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.07sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.19sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.19sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.19sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.19sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOros2_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 + 2.21sINFOros2_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 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.28sINFOmove_group ×4 + 2.28sINFOmove_group[92mYou can start planning now![0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924664 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924664 ms (missed cycles : 3).[0m ×2 + 3.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.57sINFOobjective_server_node[2026-09-11 21:41:47.644] [moveit_pro_license] [info] ×2 + 3.57sINFOobjective_server_node************************************************* ×4 + 3.57sINFOobjective_server_node* MoveIt Pro License ×2 + 3.57sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 508 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.626] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.627] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7247] ×2 + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.123] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.80sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.80sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.81sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.81sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 1.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 1.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.64sINFOros2-6process has finished cleanly [pid 7246] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 508 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.626] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.627] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7247] ×2 + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.123] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.80sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.80sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.81sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.81sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 1.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 1.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.64sINFOros2-6process has finished cleanly [pid 7246] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 508 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.626] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-11 21:41:49.627] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2-7process has finished cleanly [pid 7247] ×2 + 0.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.123] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-11 21:41:50.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.80sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.80sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.81sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.81sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.16sINFOobjective_server_nodecaller: ×14 + 1.16sINFOobjective_server_nodetype: 0 ×14 + 1.16sINFOobjective_server_nodename: "" ×14 + 1.16sINFOobjective_server_nodeinstance_id: "" ×14 + 1.16sINFOobjective_server_node ×14 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.20sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 1.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 1.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.27sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 1.31sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.64sINFOros2-6process has finished cleanly [pid 7246] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 2.90sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 443 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010788 ms (missed cycles : 3).[0m ×2 + 0.05sINFOros2-8process has finished cleanly [pid 7248] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.35sINFOobjective_server_nodecaller: ×14 + 0.35sINFOobjective_server_nodetype: 0 ×14 + 0.35sINFOobjective_server_nodename: "" ×14 + 0.36sINFOobjective_server_nodeinstance_id: "" ×14 + 0.36sINFOobjective_server_node ×14 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 7232] ×2 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162910.81064177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162910.82091737 seconds ×3 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_73zdmz16 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_vtbdixkd --params-file /tmp/launch_params_f3udb0il [0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-11 21:41:50.869] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.51sINFOros2_control_node[2026-09-11 21:41:50.904] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.51sINFOros2_control_node[2026-09-11 21:41:50.904] [info] Controller state will be published at 50 Hz. ×2 + 0.51sINFOros2_control_node[2026-09-11 21:41:50.909] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.84sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 2.10sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 3.36sWARNros2_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 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.75sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7246] ×2 + 0.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.14sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.14sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.14sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.14sINFOobjective_server_nodecaller: ×12 + 0.14sINFOobjective_server_nodetype: 0 ×12 + 0.14sINFOobjective_server_nodename: "" ×12 + 0.14sINFOobjective_server_nodeinstance_id: "" ×12 + 0.14sINFOobjective_server_node ×12 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789162911.42948103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 1.26sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 2.52sWARNros2_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 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.91sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698021 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698021 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960308 ms (missed cycles : 3).[0m ×2 + 0.66sWARNros2_control_nodeCamera render tick took 1.91 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 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789162912.53965616 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.27sINFOobjective_server_nodecaller: ×10 + 1.27sINFOobjective_server_nodetype: 0 ×10 + 1.27sINFOobjective_server_nodename: "" ×10 + 1.27sINFOobjective_server_nodeinstance_id: "" ×10 + 1.27sINFOobjective_server_node ×10 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602414 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789162913.16323924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789162913.22343206 seconds ×3 + 1.93sWARNros2_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 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162913.88230824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162913.90243196 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085204 ms (missed cycles : 2).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162914.49561143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162914.64617920 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474012 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162915.35793781 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162915.40808487 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789162916.01085949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (2.5044e-05 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-11 21:41:56.147] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927067 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043394 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770463 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 6.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-11 21:41:58.655] [info] Accepted new action goal ×2 | ||||