129
Total objective tests
32
Objectives passed
0
Objectives failed
97
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 | 166 warnings · 18942 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731662 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731662 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396014 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396014 ms (missed cycles : 3).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821239 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821239 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789619714.53013849 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026357 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026357 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_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: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789619715.13708162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.76sINFOros2_control_node[2026-09-17 04:35:15.307] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-17 04:35:15.307] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044509 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044509 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379536 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379536 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799785 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799785 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711157 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711157 ms (missed cycles : 2).[0m ×2 + 7.23sINFOjoint_trajectory_controllerReceived new action goal ×3113 + 7.23sINFOjoint_trajectory_controllerAccepted new action goal ×3113 + 7.23sINFOros2_control_nodeReceived new action goal[0m ×6226 + 7.23sINFOros2_control_nodeAccepted new action goal[0m ×6226 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148664 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148664 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122100 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122100 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150208 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150208 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314931 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314931 ms (missed cycles : 2).[0m ×2 + 12.11sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.11sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228467 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228467 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878019 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878019 ms (missed cycles : 2).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385991 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385991 ms (missed cycles : 2).[0m ×2 + 15.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062523 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062523 ms (missed cycles : 2).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671404 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671404 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250706 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250706 ms (missed cycles : 2).[0m ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.816995 ms (missed cycles : 7). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.816995 ms (missed cycles : 7).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902888 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902888 ms (missed cycles : 2).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521250 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521250 ms (missed cycles : 2).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775646 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775646 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447381 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447381 ms (missed cycles : 2).[0m ×2 + 23.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824711 ms (missed cycles : 2). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824711 ms (missed cycles : 2).[0m ×2 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537360 ms (missed cycles : 2). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537360 ms (missed cycles : 2).[0m ×2 + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720573 ms (missed cycles : 2). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720573 ms (missed cycles : 2).[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787817 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787817 ms (missed cycles : 2).[0m ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732866 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732866 ms (missed cycles : 2).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071913 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071913 ms (missed cycles : 2).[0m ×2 + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151917 ms (missed cycles : 7). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151917 ms (missed cycles : 7).[0m ×2 + 30.21sWARNros2_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 + 30.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446795 ms (missed cycles : 2). + 30.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446795 ms (missed cycles : 2).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726158 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726158 ms (missed cycles : 2).[0m ×2 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951972 ms (missed cycles : 2). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951972 ms (missed cycles : 2).[0m ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846839 ms (missed cycles : 2). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846839 ms (missed cycles : 2).[0m ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157233 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157233 ms (missed cycles : 2).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186984 ms (missed cycles : 2). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186984 ms (missed cycles : 2).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305598 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305598 ms (missed cycles : 2).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103424 ms (missed cycles : 2). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103424 ms (missed cycles : 2).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877721 ms (missed cycles : 2). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877721 ms (missed cycles : 2).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293780 ms (missed cycles : 2). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293780 ms (missed cycles : 2).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054747 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054747 ms (missed cycles : 2).[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082160 ms (missed cycles : 2). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082160 ms (missed cycles : 2).[0m ×2 + 43.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799800 ms (missed cycles : 3). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799800 ms (missed cycles : 3).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304936 ms (missed cycles : 2). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304936 ms (missed cycles : 2).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614175 ms (missed cycles : 2). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614175 ms (missed cycles : 2).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404863 ms (missed cycles : 2). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404863 ms (missed cycles : 2).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776479 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776479 ms (missed cycles : 2).[0m ×2 + 47.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619759.02494931 seconds ×3 + 47.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 48.03sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.05sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789619759.65903950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.26sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 48.27sINFOros2_control_node[2026-09-17 04:35:59.812] [info] Received new action goal ×2 + 48.27sINFOros2_control_node[2026-09-17 04:35:59.812] [info] Accepted new action goal ×2 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021486 ms (missed cycles : 4). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021486 ms (missed cycles : 4).[0m ×2 + 49.11sWARNros2_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 + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075972 ms (missed cycles : 3). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075972 ms (missed cycles : 3).[0m ×2 + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687021 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687021 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.4s | 154 warnings · 342 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.02sINFOobjective_server_nodecaller: ×6 + 0.02sINFOobjective_server_nodetype: 0 ×6 + 0.02sINFOobjective_server_nodename: "" ×6 + 0.02sINFOobjective_server_nodeinstance_id: "" ×6 + 0.02sINFOobjective_server_node ×6 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_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 ×6 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877586 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877586 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 7.13sINFOros2_control_node[2026-09-17 04:34:24.480] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-09-17 04:34:24.480] [info] Accepted new action goal ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276993 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276993 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552185 ms (missed cycles : 4). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552185 ms (missed cycles : 4).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376576 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376576 ms (missed cycles : 3).[0m ×2 + 10.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.28sINFOros2_control_node[2026-09-17 04:34:27.630] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-17 04:34:27.630] [info] Accepted new action goal ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705030 ms (missed cycles : 6). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705030 ms (missed cycles : 6).[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017554 ms (missed cycles : 6). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.017554 ms (missed cycles : 6).[0m ×2 + 12.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355300 ms (missed cycles : 5). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355300 ms (missed cycles : 5).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-09-17 04:34:30.687] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-09-17 04:34:30.687] [info] Accepted new action goal ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950141 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950141 ms (missed cycles : 2).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670693 ms (missed cycles : 4). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670693 ms (missed cycles : 4).[0m ×2 + 16.29sINFOobjective_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 + 16.30sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.30sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.30sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.30sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603556 ms (missed cycles : 5). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603556 ms (missed cycles : 5).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.206650 ms (missed cycles : 6). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.206650 ms (missed cycles : 6).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384033 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384033 ms (missed cycles : 2).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785170 ms (missed cycles : 2). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785170 ms (missed cycles : 2).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107030 ms (missed cycles : 7). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107030 ms (missed cycles : 7).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434923 ms (missed cycles : 6). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434923 ms (missed cycles : 6).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696544 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696544 ms (missed cycles : 2).[0m ×2 + 23.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.17sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.17sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.17sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.17sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569325 ms (missed cycles : 4). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.569325 ms (missed cycles : 4).[0m ×2 + 24.08sINFOros2_control_node[2026-09-17 04:34:41.428] [info] Received new action goal ×2 + 24.08sINFOros2_control_node[2026-09-17 04:34:41.428] [info] Accepted new action goal ×2 + 25.02sWARNros2_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 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269778 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269778 ms (missed cycles : 2).[0m ×2 + 25.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.54sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 25.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.60sINFOros2_control_node[2026-09-17 04:34:42.943] [info] Received new action goal ×2 + 25.60sINFOros2_control_node[2026-09-17 04:34:42.943] [info] Accepted new action goal ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461762 ms (missed cycles : 5). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461762 ms (missed cycles : 5).[0m ×2 + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845983 ms (missed cycles : 2). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845983 ms (missed cycles : 2).[0m ×2 + 27.74sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 27.74sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.75sINFOros2_control_node[2026-09-17 04:34:45.099] [info] Received new action goal ×2 + 27.75sINFOros2_control_node[2026-09-17 04:34:45.099] [info] Accepted new action goal ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202833 ms (missed cycles : 5). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202833 ms (missed cycles : 5).[0m ×2 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402024 ms (missed cycles : 5). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402024 ms (missed cycles : 5).[0m ×2 + 30.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386329 ms (missed cycles : 2). + 30.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386329 ms (missed cycles : 2).[0m ×2 + 30.78sINFOros2_control_node[2026-09-17 04:34:48.121] [info] Received new action goal ×2 + 30.78sINFOros2_control_node[2026-09-17 04:34:48.121] [info] Accepted new action goal ×2 + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.431687 ms (missed cycles : 6). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.431687 ms (missed cycles : 6).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116299 ms (missed cycles : 5). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116299 ms (missed cycles : 5).[0m ×2 + 33.38sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 33.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.43sINFOros2_control_node[2026-09-17 04:34:50.772] [info] Received new action goal ×2 + 33.43sINFOros2_control_node[2026-09-17 04:34:50.772] [info] Accepted new action goal ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623986 ms (missed cycles : 3). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623986 ms (missed cycles : 3).[0m ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.285204 ms (missed cycles : 6). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.285204 ms (missed cycles : 6).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563480 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563480 ms (missed cycles : 3).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850214 ms (missed cycles : 5). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850214 ms (missed cycles : 5).[0m ×2 + 37.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116169 ms (missed cycles : 5). + 37.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116169 ms (missed cycles : 5).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567960 ms (missed cycles : 3). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567960 ms (missed cycles : 3).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851629 ms (missed cycles : 4). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851629 ms (missed cycles : 4).[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345138 ms (missed cycles : 5). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345138 ms (missed cycles : 5).[0m ×2 + 42.24sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528889 ms (missed cycles : 5). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528889 ms (missed cycles : 5).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733926 ms (missed cycles : 2). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733926 ms (missed cycles : 2).[0m ×2 + 44.40sINFOros2_control_node[2026-09-17 04:35:01.741] [info] Received new action goal ×2 + 44.40sINFOros2_control_node[2026-09-17 04:35:01.741] [info] Accepted new action goal ×2 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381253 ms (missed cycles : 2). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381253 ms (missed cycles : 2).[0m ×2 + 45.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789619702.89744234 seconds ×3 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322599 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322599 ms (missed cycles : 2).[0m ×2 + 46.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.15sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.37sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789619703.71829200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488533 ms (missed cycles : 2). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488533 ms (missed cycles : 2).[0m ×2 + 47.39sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 47.41sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.43sINFOros2_control_node[2026-09-17 04:35:04.773] [info] Received new action goal ×2 + 47.43sINFOros2_control_node[2026-09-17 04:35:04.773] [info] Accepted new action goal ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971677 ms (missed cycles : 2). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971677 ms (missed cycles : 2).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684767 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684767 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13386 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2198 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2198 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4396 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4396 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304936 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304936 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614175 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614175 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404863 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404863 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776479 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776479 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619759.02494931 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789619759.65903950 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 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-17 04:35:59.812] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-17 04:35:59.812] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021486 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021486 ms (missed cycles : 4).[0m ×2 + 4.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sINFOobjective_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 + 5.43sINFOobjective_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 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075972 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075972 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687021 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687021 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801682 ms (missed cycles : 6). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.801682 ms (missed cycles : 6).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678617 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678617 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794574 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794574 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215059 ms (missed cycles : 4). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215059 ms (missed cycles : 4).[0m ×2 + 10.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171970 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171970 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734456 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734456 ms (missed cycles : 2).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190931 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190931 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163706 ms (missed cycles : 5). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.163706 ms (missed cycles : 5).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166448 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166448 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055504 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055504 ms (missed cycles : 2).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036200 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036200 ms (missed cycles : 2).[0m ×2 + 17.98sWARNros2_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 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189222 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189222 ms (missed cycles : 2).[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780736 ms (missed cycles : 2). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780736 ms (missed cycles : 2).[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806363 ms (missed cycles : 2). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806363 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 24.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 25.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 26.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.36sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 26.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.38sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 26.38sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 57 warnings · 236 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.16sINFOobjective_server_nodeFound path in 1 iterations (0.0031959 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.40sINFOros2_control_node[2026-09-17 04:34:01.487] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-17 04:34:01.487] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392592 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392592 ms (missed cycles : 3).[0m ×2 + 0.83sINFOros2_control_node[2026-09-17 04:34:01.920] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-17 04:34:01.920] [info] Accepted new action goal ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003633 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003633 ms (missed cycles : 3).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805785 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805785 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 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 + 3.08sERRORobjective_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: 1789619644.17117977 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.62sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.62sINFOobjective_server_nodecaller: ×6 + 3.62sINFOobjective_server_nodetype: 0 ×6 + 3.62sINFOobjective_server_nodename: "" ×6 + 3.62sINFOobjective_server_nodeinstance_id: "" ×6 + 3.62sINFOobjective_server_node ×6 + 3.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789619644.82312083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319621 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319621 ms (missed cycles : 2).[0m ×2 + 3.93sINFOros2_control_node[2026-09-17 04:34:05.016] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-17 04:34:05.016] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535783 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535783 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390322 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390322 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-09-17 04:34:07.522] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-17 04:34:07.522] [info] Accepted new action goal ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985673 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985673 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071283 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071283 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075489 ms (missed cycles : 5). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075489 ms (missed cycles : 5).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217229 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217229 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084737 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084737 ms (missed cycles : 3).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789619656.09404826 seconds ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2).[0m ×2 + 15.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.62sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789619656.75996852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789619656.82009816 seconds ×3 + 16.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.27sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.45sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.46sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 16.46sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 18.46sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733926 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733926 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_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 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.10sINFOros2_control_node[2026-09-17 04:35:01.741] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-17 04:35:01.741] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381253 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381253 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789619702.89744234 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322599 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322599 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789619703.71829200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488533 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488533 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.14sINFOros2_control_node[2026-09-17 04:35:04.773] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-17 04:35:04.773] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971677 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971677 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684767 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684767 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182757 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182757 ms (missed cycles : 4).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947472 ms (missed cycles : 5). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947472 ms (missed cycles : 5).[0m ×2 + 7.84sINFOobjective_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 + 7.84sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.84sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.85sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.85sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479367 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479367 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617076 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617076 ms (missed cycles : 4).[0m ×2 + 10.26sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 10.28sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.29sINFOros2_control_node[2026-09-17 04:35:10.925] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-17 04:35:10.925] [info] Accepted new action goal ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731662 ms (missed cycles : 4). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731662 ms (missed cycles : 4).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396014 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396014 ms (missed cycles : 3).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821239 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821239 ms (missed cycles : 3).[0m ×2 + 13.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789619714.53013849 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026357 ms (missed cycles : 4). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026357 ms (missed cycles : 4).[0m ×2 + 14.44sINFOobjective_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: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789619715.13708162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.67sINFOros2_control_node[2026-09-17 04:35:15.307] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-09-17 04:35:15.307] [info] Accepted new action goal ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044509 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044509 ms (missed cycles : 3).[0m ×2 + 15.94sINFOobjective_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 + 15.95sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379536 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379536 ms (missed cycles : 4).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799785 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799785 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.80sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.64sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.16sINFOros2_control_node[2026-09-17 04:32:59.891] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-17 04:32:59.891] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913419 ms (missed cycles : 5). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913419 ms (missed cycles : 5).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268742 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268742 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311772 ms (missed cycles : 5). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.311772 ms (missed cycles : 5).[0m ×2 + 9.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053680 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053680 ms (missed cycles : 3).[0m ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 9.81sINFOros2_control_node[2026-09-17 04:33:03.542] [info] Received new action goal ×2 + 9.81sINFOros2_control_node[2026-09-17 04:33:03.542] [info] Accepted new action goal ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002108 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002108 ms (missed cycles : 4).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054421 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054421 ms (missed cycles : 2).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807663 ms (missed cycles : 4). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807663 ms (missed cycles : 4).[0m ×2 + 13.12sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 13.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.15sINFOros2_control_node[2026-09-17 04:33:06.880] [info] Received new action goal ×2 + 13.15sINFOros2_control_node[2026-09-17 04:33:06.880] [info] Accepted new action goal ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383043 ms (missed cycles : 5). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383043 ms (missed cycles : 5).[0m ×2 + 14.03sINFOobjective_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 + 14.03sINFOros2_control_node[2026-09-17 04:33:07.766] [info] Got request to cancel active goal. ×2 + 14.04sINFOros2_control_node[2026-09-17 04:33:07.766] [info] Canceling active goal... ×2 + 14.06sERRORobjective_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: 1789619587.79204011 seconds ×3 + 14.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.60sINFOobjective_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: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789619588.39967847 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 14.88sINFOros2_control_node[2026-09-17 04:33:08.613] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-17 04:33:08.613] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768704 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768704 ms (missed cycles : 4).[0m ×2 + 15.58sWARNros2_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 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633046 ms (missed cycles : 5). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633046 ms (missed cycles : 5).[0m ×2 + 17.19sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 17.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.20sINFOros2_control_node[2026-09-17 04:33:10.933] [info] Received new action goal ×2 + 17.20sINFOros2_control_node[2026-09-17 04:33:10.934] [info] Accepted new action goal ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.744706 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.744706 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 57 warnings · 301 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 1.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 1.38sERRORobjective_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: 1789619598.79441166 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.442863 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.442863 ms (missed cycles : 6).[0m ×2 + 7.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485462 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485462 ms (missed cycles : 2).[0m ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 1 iterations (0.00416715 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.04sINFOros2_control_node[2026-09-17 04:33:25.451] [info] Received new action goal ×2 + 8.04sINFOros2_control_node[2026-09-17 04:33:25.451] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161979 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161979 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086847 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086847 ms (missed cycles : 3).[0m ×2 + 10.34sINFOros2_control_node[2026-09-17 04:33:27.753] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-09-17 04:33:27.753] [info] Accepted new action goal ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714265 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714265 ms (missed cycles : 3).[0m ×2 + 10.97sWARNros2_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 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 11.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.97sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 11.97sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 13.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.90sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 13.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 14.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 14.75sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.76sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 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 · 54 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054421 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807663 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807663 ms (missed cycles : 4).[0m ×2 + 1.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×4 + 1.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 1.26sINFOros2_control_node[2026-09-17 04:33:06.880] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-09-17 04:33:06.880] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383043 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383043 ms (missed cycles : 5).[0m ×2 + 2.14sINFOobjective_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 + 2.14sINFOros2_control_node[2026-09-17 04:33:07.766] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-09-17 04:33:07.766] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1789619587.79204011 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789619588.39967847 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:08.613] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:08.613] [info] Accepted new action goal ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768704 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768704 ms (missed cycles : 4).[0m ×2 + 3.69sWARNros2_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 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633046 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633046 ms (missed cycles : 5).[0m ×2 + 5.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.31sINFOros2_control_node[2026-09-17 04:33:10.933] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-17 04:33:10.934] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.744706 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.744706 ms (missed cycles : 5).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302200 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302200 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053786 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053786 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972437 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.972437 ms (missed cycles : 5).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214545 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214545 ms (missed cycles : 3).[0m ×2 + 9.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2).[0m ×2 + 11.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 11.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 11.80sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 12.09sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 12.09sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 12.11sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 12.13sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 12.23sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 12.49sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 12.49sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 13.15sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 13.15sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 13.17sERRORobjective_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: 1789619598.79441166 seconds ×3 + 13.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.79sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 54 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.93sINFOobjective_server_nodecaller: ×4 + 3.93sINFOobjective_server_nodetype: 0 ×4 + 3.93sINFOobjective_server_nodename: "" ×4 + 3.93sINFOobjective_server_nodeinstance_id: "" ×4 + 3.93sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860485 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860485 ms (missed cycles : 3).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113601 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113601 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160813 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160813 ms (missed cycles : 2).[0m ×2 + 9.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913647 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913647 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950220 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950220 ms (missed cycles : 3).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227327 ms (missed cycles : 4). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227327 ms (missed cycles : 4).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255270 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255270 ms (missed cycles : 5).[0m ×2 + 14.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sERRORobjective_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: 1789619803.16565347 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.94sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789619803.76313591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665249 ms (missed cycles : 4). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665249 ms (missed cycles : 4).[0m ×2 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.36sINFOros2_control_node[2026-09-17 04:36:44.186] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-09-17 04:36:44.186] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364289 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364289 ms (missed cycles : 4).[0m ×2 + 16.56sWARNros2_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 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924023 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924023 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262405 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262405 ms (missed cycles : 2).[0m ×2 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.74sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.20sINFOobjective_server_nodeFound path in 5 iterations (0.00503642 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.33sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844892 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844892 ms (missed cycles : 4).[0m ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.92sINFOros2_control_node[2026-09-17 04:33:47.752] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-09-17 04:33:47.752] [info] Accepted new action goal ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141855 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141855 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059600 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059600 ms (missed cycles : 2).[0m ×2 + 10.18sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789619630.31071091 seconds ×3 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278371 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278371 ms (missed cycles : 2).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767174 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767174 ms (missed cycles : 2).[0m ×2 + 12.73sWARNros2_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 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236237 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236237 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789619633.89089346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 14.32sINFOros2_control_node[2026-09-17 04:33:54.147] [info] Received new action goal ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.935236 ms (missed cycles : 6). + 14.32sINFOros2_control_node[2026-09-17 04:33:54.147] [info] Accepted new action goal ×2 + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.935236 ms (missed cycles : 6).[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063592 ms (missed cycles : 3). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063592 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200104 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200104 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 57 warnings · 2220 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573039 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573039 ms (missed cycles : 2).[0m ×2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 1 iterations (0.00575034 s). ×2 + 8.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.65sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.67sINFOros2_control_node[2026-09-17 04:36:26.520] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-09-17 04:36:26.520] [info] Accepted new action goal ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809243 ms (missed cycles : 6). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.809243 ms (missed cycles : 6).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908399 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908399 ms (missed cycles : 3).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216839 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216839 ms (missed cycles : 2).[0m ×2 + 10.97sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 10.97sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 12.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.61sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 12.61sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 13.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 14.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.17sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 17.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 61 errors · 37 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 0.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 0.36sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 0.37sERRORobjective_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: 1789619836.67509127 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.92sINFOobjective_server_nodecaller: ×8 + 0.92sINFOobjective_server_nodetype: 0 ×8 + 0.92sINFOobjective_server_nodename: "" ×8 + 0.92sINFOobjective_server_nodeinstance_id: "" ×8 + 0.92sINFOobjective_server_node ×8 + 0.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.35sINFOobjective_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 + 2.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.00sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789619840.43128848 seconds ×3 + 4.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965113 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965113 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.001867 ms (missed cycles : 7). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.001867 ms (missed cycles : 7).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806753 ms (missed cycles : 5). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806753 ms (missed cycles : 5).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759584 ms (missed cycles : 6). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759584 ms (missed cycles : 6).[0m ×2 + 10.15sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.17sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.17sERRORweb_video_auth_proxy-23process has died [pid 7361, 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 + 10.17sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.18sERRORweb_bridge_auth_proxy-22process has died [pid 7357, 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 + 10.18sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.18sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.18sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.19sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.19sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.20sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.20sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.20sINFOvideo_server-21process has finished cleanly [pid 7356] ×2 + 10.20sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.21sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.21sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.22sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.22sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.23sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.23sINFOcontroller_managerShutdown request received.... + 10.23sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.23sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.23sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.23sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.23sINFOvideo_server2026/09/17 04:37:26 INF shutting down gracefully ×2 + 10.23sINFOvideo_server2026/09/17 04:37:26 INF [WebRTC] closing ×2 + 10.23sINFOvideo_server2026/09/17 04:37:26 INF [RTSP] closing ×2 + 10.23sINFOvideo_server2026/09/17 04:37:26 INF waiting for running hooks ×2 + 10.23sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.23sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.23sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.23sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.23sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.23sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.23sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.23sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.23sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.23sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.23sERRORmove_groupStack trace (most recent call last) in thread 7715: ×2 + 10.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.23sINFOcontroller_managerShutting down the controller manager. + 10.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.24sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.24sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.24sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd1fe206a63, in __clone ×2 + 10.24sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd1fe179aa3, in ×2 + 10.24sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.24sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.24sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd1fe40bdb3, in ×2 + 10.24sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fd1feb6fb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.24sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd1fe79d620, in rclcpp::Rate::sleep() ×2 + 10.24sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd1fe6dfd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.25sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd1fe6a1087, in ×2 + 10.25sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd1fe3da390, in __cxa_throw ×2 + 10.25sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd1fe3c4a54, in std::terminate() ×2 + 10.25sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd1fe3da0d9, in ×2 + 10.25sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd1fe3c4ff4, in ×2 + 10.25sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd1fe1058fe, in abort ×2 + 10.25sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd1fe12227d, in raise ×2 + 10.25sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd1fe17bb2c, in pthread_kill ×2 + 10.25sERRORmove_groupAborted (Signal sent by tkill() 7267 0) ×2 + 10.25sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.25sERRORmove_group-9process has died [pid 7267, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_ob7j_16p --params-file /tmp/launch_params_4knv9x44 --params-file /tmp/launch_params_zsh9gugc --params-file /tmp/launch_params_j6rdrweu --params-file /tmp/launch_params_ease1j0l --params-file /tmp/launch_params_yk54bi51']. ×2 + 10.44sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.44sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.44sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.23sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7355] ×2 + 11.23sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.25sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7273] ×2 + 11.25sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7272] ×2 + 11.28sINFOexecute_objective_bridge-17process has finished cleanly [pid 7289] ×2 + 11.30sINFOui_teleop_bridge-18process has finished cleanly [pid 7290] ×2 + 11.30sINFOwaypoint_manager_node-11process has finished cleanly [pid 7271] ×2 + 11.30sINFOparameter_manager_node-10process has finished cleanly [pid 7270] ×2 + 11.35sINFOobjective_server_node[0;m[2026-09-17 04:37:27.658] [moveit_pro_license] [info] ×2 + 11.35sINFOobjective_server_node************************************************* ×4 + 11.35sINFOobjective_server_node* MoveIt Pro License ×2 + 11.35sINFOobjective_server_node* Application has successfully terminated ×2 + 11.36sINFOcomponent_container_mt-16process has finished cleanly [pid 7288] ×2 + 11.48sINFOobjective_server_node_main-14process has finished cleanly [pid 7276] ×2 + 11.48sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.39sINFOcomponent_container_mt-15process has finished cleanly [pid 7285] ×2 + 12.65sINFOweb_bridge-19process has finished cleanly [pid 7291] ×2 + 12.65sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.88sINFOros2_control_node-1process has finished cleanly [pid 7230] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 209 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789619630.31071091 seconds ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278371 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278371 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767174 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767174 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236237 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236237 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789619633.89089346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-17 04:33:54.147] [info] Received new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.935236 ms (missed cycles : 6). + 4.14sINFOros2_control_node[2026-09-17 04:33:54.147] [info] Accepted new action goal ×2 + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.935236 ms (missed cycles : 6).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063592 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063592 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200104 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200104 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977008 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977008 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 5 iterations (0.00543392 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.56sINFOros2_control_node[2026-09-17 04:33:58.568] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-09-17 04:33:58.568] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820227 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820227 ms (missed cycles : 2).[0m ×2 + 8.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 9.57sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684169 ms (missed cycles : 5). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684169 ms (missed cycles : 5).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900544 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900544 ms (missed cycles : 3).[0m ×2 + 11.08sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 11.08sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 11.24sINFOobjective_server_nodeFound path in 1 iterations (0.0031959 s). ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.48sINFOros2_control_node[2026-09-17 04:34:01.487] [info] Received new action goal ×2 + 11.48sINFOros2_control_node[2026-09-17 04:34:01.487] [info] Accepted new action goal ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392592 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392592 ms (missed cycles : 3).[0m ×2 + 11.91sINFOros2_control_node[2026-09-17 04:34:01.920] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-09-17 04:34:01.920] [info] Accepted new action goal ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003633 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003633 ms (missed cycles : 3).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805785 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805785 ms (missed cycles : 3).[0m ×2 + 14.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.15sINFOobjective_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 + 14.16sERRORobjective_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: 1789619644.17117977 seconds ×3 + 14.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.70sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789619644.82312083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319621 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319621 ms (missed cycles : 2).[0m ×2 + 15.01sINFOros2_control_node[2026-09-17 04:34:05.016] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-17 04:34:05.016] [info] Accepted new action goal ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535783 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535783 ms (missed cycles : 3).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390322 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390322 ms (missed cycles : 3).[0m ×2 + 17.51sINFOros2_control_node[2026-09-17 04:34:07.522] [info] Received new action goal ×2 + 17.51sINFOros2_control_node[2026-09-17 04:34:07.522] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704698 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704698 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577287 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577287 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789619813.78623009 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209392 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209392 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.93sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.93sINFOobjective_server_nodecaller: ×8 + 2.93sINFOobjective_server_nodetype: 0 ×8 + 2.93sINFOobjective_server_nodename: "" ×8 + 2.93sINFOobjective_server_nodeinstance_id: "" ×8 + 2.93sINFOobjective_server_node ×8 + 2.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789619814.43570137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.12sINFOros2_control_node[2026-09-17 04:36:54.569] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 04:36:54.569] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279610 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279610 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843110 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843110 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704203 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704203 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031556 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031556 ms (missed cycles : 5).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564755 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564755 ms (missed cycles : 3).[0m ×2 + 8.14sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076937 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076937 ms (missed cycles : 3).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 11.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 13.22sINFOobjective_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 + 13.22sERRORobjective_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: 1789619824.66598535 seconds ×3 + 13.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 13.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.89sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 13.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 13.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOobjective_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 + 14.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 15.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.27sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 0.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.84sINFOobjective_server_nodecaller: ×6 + 2.84sINFOobjective_server_nodetype: 0 ×6 + 2.84sINFOobjective_server_nodename: "" ×6 + 2.84sINFOobjective_server_nodeinstance_id: "" ×6 + 2.84sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.14sINFOros2_control_node[2026-09-17 04:33:35.526] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-09-17 04:33:35.526] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365758 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365758 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.848171 ms (missed cycles : 7). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.848171 ms (missed cycles : 7).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129770 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129770 ms (missed cycles : 5).[0m ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 9.48sINFOros2_control_node[2026-09-17 04:33:37.864] [info] Received new action goal ×2 + 9.48sINFOros2_control_node[2026-09-17 04:33:37.864] [info] Accepted new action goal ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073065 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073065 ms (missed cycles : 4).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 11.83sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 11.83sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 12.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[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[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 13.90sERRORobjective_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: 1789619622.28576636 seconds ×3 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 14.72sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 14.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.73sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.42sERRORobjective_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: 1789619824.66598535 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.99sINFOobjective_server_nodecaller: ×14 + 1.99sINFOobjective_server_nodetype: 0 ×14 + 1.99sINFOobjective_server_nodename: "" ×14 + 1.99sINFOobjective_server_nodeinstance_id: "" ×14 + 1.99sINFOobjective_server_node ×14 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_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 ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785258 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785258 ms (missed cycles : 2).[0m ×2 + 6.77sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.78sINFOros2_control_node[2026-09-17 04:37:10.024] [info] Received new action goal ×2 + 6.78sINFOros2_control_node[2026-09-17 04:37:10.024] [info] Accepted new action goal ×2 + 6.78sINFOros2_control_node[2026-09-17 04:37:10.024] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407177 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407177 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090602 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.090602 ms (missed cycles : 5).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978423 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978423 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 13.42sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 13.42sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 13.43sERRORobjective_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: 1789619836.67509127 seconds ×3 + 13.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 14.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 15.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.35sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.41sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.41sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.41sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.41sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 16.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.00sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 16.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.63sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950220 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950220 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227327 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227327 ms (missed cycles : 4).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255270 ms (missed cycles : 5). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255270 ms (missed cycles : 5).[0m ×2 + 2.84sINFOobjective_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 + 2.84sERRORobjective_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: 1789619803.16565347 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789619803.76313591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665249 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665249 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 04:36:44.186] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 04:36:44.186] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364289 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364289 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924023 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924023 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257326 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257326 ms (missed cycles : 4).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478005 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478005 ms (missed cycles : 3).[0m ×2 + 7.87sINFOros2_control_node[2026-09-17 04:36:48.201] [info] Received new action goal ×2 + 7.87sINFOros2_control_node[2026-09-17 04:36:48.201] [info] Accepted new action goal ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703183 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703183 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194784 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194784 ms (missed cycles : 2).[0m ×2 + 11.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704698 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704698 ms (missed cycles : 3).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577287 ms (missed cycles : 4). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577287 ms (missed cycles : 4).[0m ×2 + 13.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789619813.78623009 seconds ×3 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209392 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209392 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789619814.43570137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 14.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.24sINFOros2_control_node[2026-09-17 04:36:54.569] [info] Received new action goal ×2 + 14.24sINFOros2_control_node[2026-09-17 04:36:54.569] [info] Accepted new action goal ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279610 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279610 ms (missed cycles : 3).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843110 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843110 ms (missed cycles : 2).[0m ×2 + 16.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704203 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704203 ms (missed cycles : 2).[0m ×2 + 17.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 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 3.482873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789619656.09404826 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789619656.75996852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789619656.82009816 seconds ×3 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 7.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.49sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.64sINFOobjective_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 + 7.65sINFOobjective_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 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.97sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 7.97sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 9.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 39 warnings · 695 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.25sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.25sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.25sWARNros2_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 + 0.25sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.25sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.25sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.25sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.25sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.25sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.25sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.25sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.25sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.25sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.25sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.25sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.25sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.25sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.25sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.25sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.25sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.25sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.25sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.25sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.25sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.25sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.25sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.25sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.25sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.25sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.25sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.25sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.33sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.33sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580093 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580093 ms (missed cycles : 2).[0m ×2 + 0.40sINFOforce_torque_sensor_broadcasterconfigure successful + 0.40sINFOros2_control_nodeconfigure successful[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcomponent_container_mt[2026-09-17 04:32:49.904] [moveit_pro_license] [info] ×2 + 0.59sINFOcomponent_container_mt************************************************* ×4 + 0.59sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.59sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.73sINFOros2-2process has finished cleanly [pid 7231] ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.86sINFOros2_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 + 0.86sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.86sWARNros2_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 + 0.86sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.86sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.87sINFOros2_control_node[2026-09-17 04:32:50.175] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.87sINFOros2_control_node[2026-09-17 04:32:50.175] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.89sINFOros2_control_node[2026-09-17 04:32:50.200] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.89sINFOros2_control_node[2026-09-17 04:32:50.200] [info] Controller state will be published at 50 Hz. ×2 + 0.90sINFOros2_control_node[2026-09-17 04:32:50.208] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.94sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.17sINFOros2-6process has finished cleanly [pid 7235] ×2 + 1.21sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 1.26sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_node[2026-09-17 04:32:50.598] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-17 04:32:50.599] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4).[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 1.63sINFOros2-8process has finished cleanly [pid 7237] ×2 + 1.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.64sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.95sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.95sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.96sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.96sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 2.00sINFOros2-4process has finished cleanly [pid 7233] ×2 + 2.02sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.02sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.02sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.02sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.03sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.03sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.32sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.32sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.34sINFOros2-5process has finished cleanly [pid 7234] ×2 + 2.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 2.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 2.45sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.45sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.77sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.77sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.77sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.77sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.77sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 2.77sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 2.78sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 2.80sINFOros2-7process has finished cleanly [pid 7236] ×2 + 2.81sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.81sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.81sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.81sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.81sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.82sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.82sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.84sINFOobjective_server_nodecaller: ×14 + 2.84sINFOobjective_server_nodetype: 0 ×14 + 2.84sINFOobjective_server_nodename: "" ×14 + 2.84sINFOobjective_server_nodeinstance_id: "" ×14 + 2.84sINFOobjective_server_node ×14 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.19sINFOros2-3process has finished cleanly [pid 7232] ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 4.66sWARNros2_control_nodeCamera render tick took 1.84 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 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 7.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.22sWARNros2_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 + 7.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 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 + 7.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 7.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.86sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.94sINFOobjective_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 + 7.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.06sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1789619836.67509127 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.11sINFOobjective_server_nodecaller: ×8 + 3.11sINFOobjective_server_nodetype: 0 ×8 + 3.11sINFOobjective_server_nodename: "" ×8 + 3.11sINFOobjective_server_nodeinstance_id: "" ×8 + 3.11sINFOobjective_server_node ×8 + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789619840.43128848 seconds ×3 + 6.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2).[0m ×2 + 7.34sWARNros2_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 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789619656.09404826 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789619656.75996852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789619656.82009816 seconds ×3 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:33:27.753] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:33:27.753] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714265 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714265 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.31sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.62sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 1.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 1.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.74sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.00sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619598.79441166 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_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: 1789619824.66598535 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.00sINFOobjective_server_nodecaller: ×6 + 4.00sINFOobjective_server_nodetype: 0 ×6 + 4.00sINFOobjective_server_nodename: "" ×6 + 4.00sINFOobjective_server_nodeinstance_id: "" ×6 + 4.00sINFOobjective_server_node ×6 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 1.45sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619836.67509127 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.01sINFOobjective_server_nodecaller: ×8 + 2.01sINFOobjective_server_nodetype: 0 ×8 + 2.01sINFOobjective_server_nodename: "" ×8 + 2.01sINFOobjective_server_nodeinstance_id: "" ×8 + 2.01sINFOobjective_server_node ×8 + 2.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.44sINFOobjective_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 + 3.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789619840.43128848 seconds ×3 + 5.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2).[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965113 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965113 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 31 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.15sINFOros2-8process has finished cleanly [pid 7237] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.53sINFOros2-4process has finished cleanly [pid 7233] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.30sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.30sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.30sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 1.31sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2-7process has finished cleanly [pid 7236] ×2 + 1.33sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.33sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.33sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.33sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.34sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.72sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 3.18sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 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 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[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: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 0.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sERRORobjective_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: 1789619824.66598535 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.97sINFOobjective_server_nodecaller: ×6 + 2.97sINFOobjective_server_nodetype: 0 ×6 + 2.97sINFOobjective_server_nodename: "" ×6 + 2.97sINFOobjective_server_nodeinstance_id: "" ×6 + 2.97sINFOobjective_server_node ×6 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.69sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.45sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2).[0m ×2 + 7.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 1.45sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619836.67509127 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.01sINFOobjective_server_nodecaller: ×8 + 2.01sINFOobjective_server_nodetype: 0 ×8 + 2.01sINFOobjective_server_nodename: "" ×8 + 2.01sINFOobjective_server_nodeinstance_id: "" ×8 + 2.01sINFOobjective_server_node ×8 + 2.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.44sINFOobjective_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 + 3.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789619840.43128848 seconds ×3 + 5.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917133 ms (missed cycles : 2).[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 0.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.31sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.62sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 1.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 1.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.74sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.00sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619598.79441166 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133435 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.31sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 1.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.62sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 1.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 1.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 1.74sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.00sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619598.79441166 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 1.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 1.38sERRORobjective_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: 1789619598.79441166 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 1.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 1.38sERRORobjective_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: 1789619598.79441166 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 1.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 1.38sERRORobjective_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: 1789619598.79441166 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002538 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00305753 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-17 04:33:18.112] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992007 ms (missed cycles : 4).[0m ×2 + 1.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-09-17 04:33:18.773] [info] Canceling active goal... ×2 + 1.38sERRORobjective_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: 1789619598.79441166 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.99sINFOobjective_server_nodecaller: ×4 + 1.99sINFOobjective_server_nodetype: 0 ×4 + 1.99sINFOobjective_server_nodename: "" ×4 + 1.99sINFOobjective_server_nodeinstance_id: "" ×4 + 1.99sINFOobjective_server_node ×4 + 2.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789619599.50409460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789619599.56418538 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684471 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789619600.19424200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-17 04:33:20.408] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190015 ms (missed cycles : 2).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077467 ms (missed cycles : 2).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 0.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 0.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 0.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169878 ms (missed cycles : 4).[0m ×2 + 0.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-09-17 04:33:29.387] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435839 ms (missed cycles : 3).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789619610.68445563 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789619611.31405473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.861531 ms (missed cycles : 11).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789619611.40418959 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789619612.05294490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (6.14e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-17 04:33:32.177] [info] Accepted new action goal ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681402 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960727 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992425 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196155 ms (missed cycles : 6).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-17 04:33:40.214] [info] Accepted new action goal ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430578 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.689719 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-09-17 04:33:42.273] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789619622.28576636 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789619622.91876912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118968 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sINFOros2_control_node[2026-09-17 04:33:43.122] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-17 04:33:43.123] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582076 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 98 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.16sINFOobjective_server_nodeFound path in 1 iterations (0.0031959 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOros2_control_node[2026-09-17 04:34:01.487] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-09-17 04:34:01.487] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392592 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392592 ms (missed cycles : 3).[0m ×2 + 0.83sINFOros2_control_node[2026-09-17 04:34:01.920] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-17 04:34:01.920] [info] Accepted new action goal ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003633 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003633 ms (missed cycles : 3).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805785 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805785 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 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 + 3.08sERRORobjective_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: 1789619644.17117977 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789619644.82312083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319621 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319621 ms (missed cycles : 2).[0m ×2 + 3.93sINFOros2_control_node[2026-09-17 04:34:05.016] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-17 04:34:05.016] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535783 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535783 ms (missed cycles : 3).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390322 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390322 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_node[2026-09-17 04:34:07.522] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-17 04:34:07.522] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482873 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041122 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117189 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789619656.09404826 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184247 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789619656.75996852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789619656.82009816 seconds ×3 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.91sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789619657.42296219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 04:34:17.550] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060664 ms (missed cycles : 5).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129566 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789619659.55310392 seconds ×3 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930975 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139234 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789619661.19597888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.94sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 04:34:21.604] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042544 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270026 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731662 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731662 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396014 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396014 ms (missed cycles : 3).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821239 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821239 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789619714.53013849 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026357 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026357 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_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: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789619715.13708162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.76sINFOros2_control_node[2026-09-17 04:35:15.307] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-17 04:35:15.307] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044509 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044509 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_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 + 5.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.10sINFOobjective_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 + 5.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379536 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379536 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799785 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799785 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2110 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×337 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×337 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416233 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967649 ms (missed cycles : 2).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773253 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789619781.16076040 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965573 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789619781.87285328 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 04:36:22.096] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994857 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.394433 ms (missed cycles : 6).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944348 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 04:36:28.822] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074111 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 04:36:30.467] [info] Accepted new action goal ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077683 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789619791.76350331 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125169 ms (missed cycles : 4).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789619792.84523821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702728 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-17 04:36:33.029] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457200 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640959 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 3.950220 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950220 ms (missed cycles : 3).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227327 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.227327 ms (missed cycles : 4).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255270 ms (missed cycles : 5). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255270 ms (missed cycles : 5).[0m ×2 + 2.84sINFOobjective_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 + 2.84sERRORobjective_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: 1789619803.16565347 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.38sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.38sINFOobjective_server_nodecaller: ×2 + 3.38sINFOobjective_server_nodetype: 0 ×2 + 3.38sINFOobjective_server_nodename: "" ×2 + 3.38sINFOobjective_server_nodeinstance_id: "" ×2 + 3.38sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789619803.76313591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665249 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665249 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 04:36:44.186] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 04:36:44.186] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364289 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364289 ms (missed cycles : 4).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924023 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924023 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704698 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704698 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577287 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577287 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789619813.78623009 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209392 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209392 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789619814.43570137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.12sINFOros2_control_node[2026-09-17 04:36:54.569] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 04:36:54.569] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279610 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279610 ms (missed cycles : 3).[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843110 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843110 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704203 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704203 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×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 7.260396 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_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: 1789619824.66598535 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.00sINFOobjective_server_nodecaller: ×6 + 4.00sINFOobjective_server_nodetype: 0 ×6 + 4.00sINFOobjective_server_nodename: "" ×6 + 4.00sINFOobjective_server_nodeinstance_id: "" ×6 + 4.00sINFOobjective_server_node ×6 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[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 7.260396 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_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: 1789619824.66598535 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.00sINFOobjective_server_nodecaller: ×6 + 4.00sINFOobjective_server_nodetype: 0 ×6 + 4.00sINFOobjective_server_nodename: "" ×6 + 4.00sINFOobjective_server_nodeinstance_id: "" ×6 + 4.00sINFOobjective_server_node ×6 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[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 7.260396 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_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: 1789619824.66598535 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.00sINFOobjective_server_nodecaller: ×6 + 4.00sINFOobjective_server_nodetype: 0 ×6 + 4.00sINFOobjective_server_nodename: "" ×6 + 4.00sINFOobjective_server_nodeinstance_id: "" ×6 + 4.00sINFOobjective_server_node ×6 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[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 7.260396 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260396 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865026 ms (missed cycles : 3).[0m ×2 + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_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: 1789619824.66598535 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.00sINFOobjective_server_nodecaller: ×6 + 4.00sINFOobjective_server_nodetype: 0 ×6 + 4.00sINFOobjective_server_nodename: "" ×6 + 4.00sINFOobjective_server_nodeinstance_id: "" ×6 + 4.00sINFOobjective_server_node ×6 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sERRORobjective_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: 1789619824.66598535 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.99sINFOobjective_server_nodecaller: ×6 + 1.99sINFOobjective_server_nodetype: 0 ×6 + 1.99sINFOobjective_server_nodename: "" ×6 + 1.99sINFOobjective_server_nodeinstance_id: "" ×6 + 1.99sINFOobjective_server_node ×6 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_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 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sERRORobjective_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: 1789619824.66598535 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.99sINFOobjective_server_nodecaller: ×6 + 1.99sINFOobjective_server_nodetype: 0 ×6 + 1.99sINFOobjective_server_nodename: "" ×6 + 1.99sINFOobjective_server_nodeinstance_id: "" ×6 + 1.99sINFOobjective_server_node ×6 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_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 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297797 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220901 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sERRORobjective_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: 1789619824.66598535 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.99sINFOobjective_server_nodecaller: ×6 + 1.99sINFOobjective_server_nodetype: 0 ×6 + 1.99sINFOobjective_server_nodename: "" ×6 + 1.99sINFOobjective_server_nodeinstance_id: "" ×6 + 1.99sINFOobjective_server_node ×6 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789619825.28578949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366838 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789619825.35591435 seconds ×3 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789619825.95804405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789619825.98126483 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139623 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789619826.60048604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-17 04:37:06.714] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094486 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725104 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_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 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1789619836.67509127 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.11sINFOobjective_server_nodecaller: ×8 + 3.11sINFOobjective_server_nodetype: 0 ×8 + 3.11sINFOobjective_server_nodename: "" ×8 + 3.11sINFOobjective_server_nodeinstance_id: "" ×8 + 3.11sINFOobjective_server_node ×8 + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064904 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673354 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062459 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-17 04:37:16.670] [info] Canceling active goal... ×2 + 2.56sERRORobjective_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: 1789619836.67509127 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.11sINFOobjective_server_nodecaller: ×8 + 3.11sINFOobjective_server_nodetype: 0 ×8 + 3.11sINFOobjective_server_nodename: "" ×8 + 3.11sINFOobjective_server_nodeinstance_id: "" ×8 + 3.11sINFOobjective_server_node ×8 + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789619837.27908945 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521329 ms (missed cycles : 6).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789619838.05921507 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966951 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789619838.65639544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789619838.65851760 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789619839.30444741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789619839.33522987 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.035410 ms (missed cycles : 7).[0m ×2 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789619839.93115425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 40 warnings · 751 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/2026-09-17-04-32-45-270024-83ef7a416d16-7182 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_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. + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016965 ms (missed cycles : 5). + 0.89sINFOros2_control_node-1process started with pid [7230] ×2 + 0.89sINFOmove_group-9process started with pid [7267] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [7270] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [7271] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [7272] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [7273] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [7276] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [7285] ×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 [7355] ×2 + 0.89sINFOvideo_server-21process started with pid [7356] ×2 + 0.89sINFOweb_bridge_auth_proxy-22process started with pid [7357] ×2 + 0.89sINFOweb_video_auth_proxy-23process started with pid [7361] ×2 + 0.89sINFOros2-2process started with pid [7231] ×2 + 0.89sINFOros2-3process started with pid [7232] ×2 + 0.89sINFOros2-4process started with pid [7233] ×2 + 0.89sINFOros2-5process started with pid [7234] ×2 + 0.89sINFOros2-6process started with pid [7235] ×2 + 0.89sINFOros2-7process started with pid [7236] ×2 + 0.89sINFOros2-8process started with pid [7237] ×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 8.016965 ms (missed cycles : 5).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_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 + 0.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF configuration loaded from /tmp/moveit-webrtc-jpl8utz2/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.85sINFOmove_group[2026-09-17 04:32:47.503] [moveit_pro_license] [info] ×2 + 1.85sINFOmove_group************************************************* ×4 + 1.85sINFOmove_group* MoveIt Pro License ×2 + 1.85sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.03sINFOwaypoint_manager_node[2026-09-17 04:32:47.684] [moveit_pro_license] [info] ×2 + 2.03sINFOwaypoint_manager_node************************************************* ×4 + 2.03sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.03sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sINFOros2_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 + 2.10sINFOros2_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 + 2.11sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOmove_group ×4 + 2.25sINFOmove_group[92mYou can start planning now![0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702816 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702816 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_node[2026-09-17 04:32:49.030] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.50sINFOobjective_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 + 3.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.91sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.91sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.91sWARNros2_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 + 3.91sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.91sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.91sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.91sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.91sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.91sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.91sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.91sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.91sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.91sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.91sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.99sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.99sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.03sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.03sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.04sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.04sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 4.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 4.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.06sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580093 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580093 ms (missed cycles : 2).[0m ×2 + 4.06sINFOforce_torque_sensor_broadcasterconfigure successful + 4.06sINFOros2_control_nodeconfigure successful[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.07sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.25sINFOcomponent_container_mt[2026-09-17 04:32:49.904] [moveit_pro_license] [info] ×2 + 4.25sINFOcomponent_container_mt************************************************* ×4 + 4.25sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.25sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.34sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.34sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.34sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.39sINFOros2-2process has finished cleanly [pid 7231] ×2 + 4.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 4.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.52sINFOros2_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 + 4.52sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.52sWARNros2_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 + 4.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.53sINFOros2_control_node[2026-09-17 04:32:50.175] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.53sINFOros2_control_node[2026-09-17 04:32:50.175] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.55sINFOros2_control_node[2026-09-17 04:32:50.200] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.55sINFOros2_control_node[2026-09-17 04:32:50.200] [info] Controller state will be published at 50 Hz. ×2 + 4.56sINFOros2_control_node[2026-09-17 04:32:50.208] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.60sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.83sINFOros2-6process has finished cleanly [pid 7235] ×2 + 4.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 4.87sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 4.91sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.95sINFOros2_control_node[2026-09-17 04:32:50.598] [info] Controller state will be published at 20 Hz. ×2 + 4.95sINFOros2_control_node[2026-09-17 04:32:50.599] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4).[0m ×2 + 5.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 5.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 5.29sINFOros2-8process has finished cleanly [pid 7237] ×2 + 5.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.31sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.31sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 5.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 5.66sINFOros2-4process has finished cleanly [pid 7233] ×2 + 5.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.98sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.98sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.98sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.00sINFOros2-5process has finished cleanly [pid 7234] ×2 + 6.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 6.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 6.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.14sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 6.14sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.35sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.43sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.43sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.43sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.43sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.43sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 6.43sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 6.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 6.46sINFOros2-7process has finished cleanly [pid 7236] ×2 + 6.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.50sINFOobjective_server_nodecaller: ×10 + 6.50sINFOobjective_server_nodetype: 0 ×10 + 6.50sINFOobjective_server_nodename: "" ×10 + 6.50sINFOobjective_server_nodeinstance_id: "" ×10 + 6.50sINFOobjective_server_node ×10 + 6.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 6.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.85sINFOros2-3process has finished cleanly [pid 7232] ×2 + 7.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.11sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 8.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 8.32sWARNros2_control_nodeCamera render tick took 1.84 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 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 8.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 9.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.36sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 9.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 411 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7236] ×2 + 0.01sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.01sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.01sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.01sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.04sINFOobjective_server_nodecaller: ×14 + 0.04sINFOobjective_server_nodetype: 0 ×14 + 0.04sINFOobjective_server_nodename: "" ×14 + 0.04sINFOobjective_server_nodeinstance_id: "" ×14 + 0.04sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.39sINFOros2-3process has finished cleanly [pid 7232] ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 1.86sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sWARNros2_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 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.26sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 5.26sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 7.47sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 467 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.14sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.17sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.24sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.27sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.27sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.30sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 0.30sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.59sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.59sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.59sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.59sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.60sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.60sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2-7process has finished cleanly [pid 7236] ×2 + 0.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.63sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.63sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.63sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.64sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.64sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.01sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 2.48sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[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 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.67sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.70sINFOros2_control_node[2026-09-17 04:32:59.891] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-09-17 04:32:59.891] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 181 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/2026-09-17-04-32-45-270024-83ef7a416d16-7182 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_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. + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016965 ms (missed cycles : 5). + 0.89sINFOros2_control_node-1process started with pid [7230] ×2 + 0.89sINFOmove_group-9process started with pid [7267] ×2 + 0.89sINFOparameter_manager_node-10process started with pid [7270] ×2 + 0.89sINFOwaypoint_manager_node-11process started with pid [7271] ×2 + 0.89sINFOmove_joint_resampler_node-12process started with pid [7272] ×2 + 0.89sINFOmove_end_effector_resampler_node-13process started with pid [7273] ×2 + 0.89sINFOobjective_server_node_main-14process started with pid [7276] ×2 + 0.89sINFOcomponent_container_mt-15process started with pid [7285] ×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 [7355] ×2 + 0.89sINFOvideo_server-21process started with pid [7356] ×2 + 0.89sINFOweb_bridge_auth_proxy-22process started with pid [7357] ×2 + 0.89sINFOweb_video_auth_proxy-23process started with pid [7361] ×2 + 0.89sINFOros2-2process started with pid [7231] ×2 + 0.89sINFOros2-3process started with pid [7232] ×2 + 0.89sINFOros2-4process started with pid [7233] ×2 + 0.89sINFOros2-5process started with pid [7234] ×2 + 0.89sINFOros2-6process started with pid [7235] ×2 + 0.89sINFOros2-7process started with pid [7236] ×2 + 0.89sINFOros2-8process started with pid [7237] ×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 8.016965 ms (missed cycles : 5).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_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 + 0.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF configuration loaded from /tmp/moveit-webrtc-jpl8utz2/mediamtx.yml ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.01sINFOvideo_server2026/09/17 04:32:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.85sINFOmove_group[2026-09-17 04:32:47.503] [moveit_pro_license] [info] ×2 + 1.85sINFOmove_group************************************************* ×4 + 1.85sINFOmove_group* MoveIt Pro License ×2 + 1.85sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.03sINFOwaypoint_manager_node[2026-09-17 04:32:47.684] [moveit_pro_license] [info] ×2 + 2.03sINFOwaypoint_manager_node************************************************* ×4 + 2.03sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.03sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sINFOros2_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 + 2.10sINFOros2_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 + 2.11sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.25sINFOmove_group ×4 + 2.25sINFOmove_group[92mYou can start planning now![0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702816 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702816 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_node[2026-09-17 04:32:49.030] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.50sINFOobjective_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 + 3.50sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.51sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.51sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 28 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.15sINFOros2-8process has finished cleanly [pid 7237] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.53sINFOros2-4process has finished cleanly [pid 7233] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.30sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.30sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.30sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 1.31sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2-7process has finished cleanly [pid 7236] ×2 + 1.33sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.33sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.33sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.33sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.34sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.72sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 3.18sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 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 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[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: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 28 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.15sINFOros2-8process has finished cleanly [pid 7237] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.53sINFOros2-4process has finished cleanly [pid 7233] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.30sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.30sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.30sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 1.31sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2-7process has finished cleanly [pid 7236] ×2 + 1.33sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.33sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.33sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.33sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.34sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.72sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 3.18sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 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 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[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: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 28 warnings · 537 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170076 ms (missed cycles : 4).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.15sINFOros2-8process has finished cleanly [pid 7237] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.53sINFOros2-4process has finished cleanly [pid 7233] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.94sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.30sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.30sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 1.30sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 1.31sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2-7process has finished cleanly [pid 7236] ×2 + 1.33sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.33sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.33sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.33sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.34sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.37sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.37sINFOobjective_server_nodecaller: ×14 + 1.37sINFOobjective_server_nodetype: 0 ×14 + 1.37sINFOobjective_server_nodename: "" ×14 + 1.37sINFOobjective_server_nodeinstance_id: "" ×14 + 1.37sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.72sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 3.18sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 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 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[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: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 6.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 467 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.14sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.17sINFOros2-5process has finished cleanly [pid 7234] ×2 + 0.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.24sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.27sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.27sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.30sINFOros2_control_node[2026-09-17 04:32:51.788] [info] Controller state will be published at 10 Hz. ×2 + 0.30sINFOros2_control_node[2026-09-17 04:32:51.790] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.59sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.59sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.59sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 + 0.59sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nj7zw9ob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8t88krp4 --params-file /tmp/launch_params_1d9yqp64 [0m ×2 + 0.60sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.60sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683403 ms (missed cycles : 2).[0m ×2 + 0.62sINFOros2-7process has finished cleanly [pid 7236] ×2 + 0.63sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.63sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.63sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.63sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.63sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.64sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.64sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.01sINFOros2-3process has finished cleanly [pid 7232] ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 2.48sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 403 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7236] ×2 + 0.01sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.01sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.01sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.01sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.04sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.04sINFOobjective_server_nodecaller: ×14 + 0.04sINFOobjective_server_nodetype: 0 ×14 + 0.04sINFOobjective_server_nodename: "" ×14 + 0.04sINFOobjective_server_nodeinstance_id: "" ×14 + 0.04sINFOobjective_server_node ×14 + 0.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789619572.21213841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789619572.22243905 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.39sINFOros2-3process has finished cleanly [pid 7232] ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789619572.81173658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 1.86sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.42sWARNros2_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 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.26sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 5.26sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 28 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.67sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.70sINFOros2_control_node[2026-09-17 04:32:59.891] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-09-17 04:32:59.891] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913419 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913419 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 316 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.67sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039732 ms (missed cycles : 3).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789619573.73192406 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.77sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483773 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.10sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.10sINFOobjective_server_nodecaller: ×10 + 1.10sINFOobjective_server_nodetype: 0 ×10 + 1.10sINFOobjective_server_nodename: "" ×10 + 1.10sINFOobjective_server_nodeinstance_id: "" ×10 + 1.10sINFOobjective_server_node ×10 + 1.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789619574.34760141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789619574.40778708 seconds ×3 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789619575.06422734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789619575.08434081 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613515 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789619575.67726088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789619575.82786894 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417998 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.34sWARNros2_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 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789619576.56135535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789619576.63148904 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789619577.23605227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891260 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.2194e-05 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 04:32:57.372] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123735 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062916 ms (missed cycles : 2).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||