124
Total objective tests
32
Objectives passed
1
Objectives failed
91
Objectives skipped
8.7s
Avg test time
97%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives1 fail28 pass58 skip
| ✕ failed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 0.6s | 6 errors · 37 warnings · 259 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sERRORobjective_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: 1788521405.18348646 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.05sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.05sINFOobjective_server_nodecaller: ×8 + 3.05sINFOobjective_server_nodetype: 0 ×8 + 3.05sINFOobjective_server_nodename: "" ×8 + 3.05sINFOobjective_server_nodeinstance_id: "" ×8 + 3.05sINFOobjective_server_node ×8 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.10sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.10sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.10sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 3.10sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 6.74sWARNros2_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 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 169 warnings · 18632 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739823 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739823 ms (missed cycles : 6).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.825297 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.825297 ms (missed cycles : 6).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788521295.11666107 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089446 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089446 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.60sINFOobjective_server_node ×4 + 2.65sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.66sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521295.72985125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.83sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 2.83sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 2.85sINFOros2_control_node[2026-09-04 11:28:15.903] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-09-04 11:28:15.903] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340780 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340780 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.12sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790513 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790513 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754560 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754560 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010083 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010083 ms (missed cycles : 2).[0m ×2 + 6.35sINFOjoint_trajectory_controllerReceived new action goal ×3060 + 6.35sINFOjoint_trajectory_controllerAccepted new action goal ×3060 + 6.35sINFOros2_control_nodeReceived new action goal[0m ×6120 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×6120 + 6.73sWARNros2_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 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681228 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681228 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 183.658216 ms (missed cycles : 111). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 183.658216 ms (missed cycles : 111).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885923 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885923 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975224 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975224 ms (missed cycles : 2).[0m ×2 + 11.18sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.18sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.18sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.18sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666216 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666216 ms (missed cycles : 2).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990890 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990890 ms (missed cycles : 2).[0m ×2 + 12.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855263 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855263 ms (missed cycles : 2).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158202 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158202 ms (missed cycles : 3).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161362 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161362 ms (missed cycles : 2).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815064 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815064 ms (missed cycles : 2).[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803457 ms (missed cycles : 3). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803457 ms (missed cycles : 3).[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981772 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981772 ms (missed cycles : 2).[0m ×2 + 19.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×6 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997724 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997724 ms (missed cycles : 2).[0m ×2 + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880593 ms (missed cycles : 3). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880593 ms (missed cycles : 3).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045032 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045032 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097493 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097493 ms (missed cycles : 2).[0m ×2 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718061 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718061 ms (missed cycles : 2).[0m ×2 + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234412 ms (missed cycles : 2). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234412 ms (missed cycles : 2).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721637 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721637 ms (missed cycles : 2).[0m ×2 + 26.74sWARNros2_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 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230803 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230803 ms (missed cycles : 2).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778455 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778455 ms (missed cycles : 2).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803897 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803897 ms (missed cycles : 2).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885611 ms (missed cycles : 3). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885611 ms (missed cycles : 3).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983944 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983944 ms (missed cycles : 2).[0m ×2 + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703985 ms (missed cycles : 2). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703985 ms (missed cycles : 2).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804963 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804963 ms (missed cycles : 2).[0m ×2 + 33.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901362 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901362 ms (missed cycles : 2).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234083 ms (missed cycles : 4). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234083 ms (missed cycles : 4).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811950 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811950 ms (missed cycles : 2).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836125 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836125 ms (missed cycles : 2).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094985 ms (missed cycles : 2). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094985 ms (missed cycles : 2).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186826 ms (missed cycles : 2). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186826 ms (missed cycles : 2).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801578 ms (missed cycles : 2). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801578 ms (missed cycles : 2).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258410 ms (missed cycles : 2). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258410 ms (missed cycles : 2).[0m ×2 + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741695 ms (missed cycles : 2). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741695 ms (missed cycles : 2).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694632 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694632 ms (missed cycles : 2).[0m ×2 + 43.99sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009131 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009131 ms (missed cycles : 2).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898027 ms (missed cycles : 2). + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898027 ms (missed cycles : 2).[0m ×2 + 46.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521339.54333067 seconds ×3 + 46.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279853 ms (missed cycles : 4). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279853 ms (missed cycles : 4).[0m ×2 + 47.03sINFOobjective_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: ""
+ 47.03sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521340.18053746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.17sINFOobjective_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 + 47.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.27sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 47.29sINFOros2_control_node[2026-09-04 11:29:00.344] [info] Received new action goal ×2 + 47.29sINFOros2_control_node[2026-09-04 11:29:00.344] [info] Accepted new action goal ×2 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921320 ms (missed cycles : 6). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921320 ms (missed cycles : 6).[0m ×2 + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321036 ms (missed cycles : 3). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321036 ms (missed cycles : 3).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277595 ms (missed cycles : 2). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277595 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.3s | 160 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.10sINFOobjective_server_nodecaller: ×4 + 3.10sINFOobjective_server_nodetype: 0 ×4 + 3.10sINFOobjective_server_nodename: "" ×4 + 3.10sINFOobjective_server_nodeinstance_id: "" ×4 + 3.10sINFOobjective_server_node ×4 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 + 7.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288758 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288758 ms (missed cycles : 4).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137759 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137759 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246343 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246343 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 9.81sINFOros2_control_node[2026-09-04 11:27:28.359] [info] Received new action goal ×2 + 9.81sINFOros2_control_node[2026-09-04 11:27:28.359] [info] Accepted new action goal ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792471 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792471 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211297 ms (missed cycles : 4). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211297 ms (missed cycles : 4).[0m ×2 + 12.78sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 12.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 12.83sINFOros2_control_node[2026-09-04 11:27:31.381] [info] Received new action goal ×2 + 12.83sINFOros2_control_node[2026-09-04 11:27:31.381] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454653 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454653 ms (missed cycles : 2).[0m ×2 + 13.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334634 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334634 ms (missed cycles : 3).[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197743 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197743 ms (missed cycles : 2).[0m ×2 + 15.79sINFOobjective_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 + 15.79sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 15.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 15.79sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 15.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 15.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 15.79sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 15.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 15.79sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781281 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781281 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328376 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328376 ms (missed cycles : 2).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402160 ms (missed cycles : 3). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402160 ms (missed cycles : 3).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540819 ms (missed cycles : 3). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540819 ms (missed cycles : 3).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476957 ms (missed cycles : 3). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476957 ms (missed cycles : 3).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850379 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850379 ms (missed cycles : 2).[0m ×2 + 22.61sINFOobjective_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 + 22.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.61sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.61sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.61sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.61sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.49sINFOros2_control_node[2026-09-04 11:27:42.048] [info] Received new action goal ×2 + 23.49sINFOros2_control_node[2026-09-04 11:27:42.048] [info] Accepted new action goal ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336856 ms (missed cycles : 3). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336856 ms (missed cycles : 3).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702152 ms (missed cycles : 2). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702152 ms (missed cycles : 2).[0m ×2 + 24.66sINFOobjective_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 + 24.67sINFOobjective_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 + 24.95sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 24.95sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.00sINFOros2_control_node[2026-09-04 11:27:43.552] [info] Received new action goal ×2 + 25.00sINFOros2_control_node[2026-09-04 11:27:43.552] [info] Accepted new action goal ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322230 ms (missed cycles : 5). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322230 ms (missed cycles : 5).[0m ×2 + 25.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566061 ms (missed cycles : 3). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566061 ms (missed cycles : 3).[0m ×2 + 27.16sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 27.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.19sINFOros2_control_node[2026-09-04 11:27:45.740] [info] Received new action goal ×2 + 27.19sINFOros2_control_node[2026-09-04 11:27:45.740] [info] Accepted new action goal ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260705 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260705 ms (missed cycles : 2).[0m ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386585 ms (missed cycles : 3). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386585 ms (missed cycles : 3).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974945 ms (missed cycles : 4). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974945 ms (missed cycles : 4).[0m ×2 + 30.31sINFOros2_control_node[2026-09-04 11:27:48.869] [info] Received new action goal ×2 + 30.32sINFOros2_control_node[2026-09-04 11:27:48.869] [info] Accepted new action goal ×2 + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814181 ms (missed cycles : 6). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814181 ms (missed cycles : 6).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444691 ms (missed cycles : 3). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444691 ms (missed cycles : 3).[0m ×2 + 32.91sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 32.92sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 32.97sINFOros2_control_node[2026-09-04 11:27:51.522] [info] Received new action goal ×2 + 32.97sINFOros2_control_node[2026-09-04 11:27:51.522] [info] Accepted new action goal ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573172 ms (missed cycles : 3). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573172 ms (missed cycles : 3).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212865 ms (missed cycles : 4). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212865 ms (missed cycles : 4).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311979 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311979 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505512 ms (missed cycles : 3). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505512 ms (missed cycles : 3).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893127 ms (missed cycles : 2). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893127 ms (missed cycles : 2).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876046 ms (missed cycles : 2). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876046 ms (missed cycles : 2).[0m ×2 + 38.50sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515294 ms (missed cycles : 4). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515294 ms (missed cycles : 4).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883075 ms (missed cycles : 3). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883075 ms (missed cycles : 3).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639146 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639146 ms (missed cycles : 3).[0m ×2 + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260572 ms (missed cycles : 3). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260572 ms (missed cycles : 3).[0m ×2 + 43.60sINFOros2_control_node[2026-09-04 11:28:02.158] [info] Received new action goal ×2 + 43.60sINFOros2_control_node[2026-09-04 11:28:02.158] [info] Accepted new action goal ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497919 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497919 ms (missed cycles : 2).[0m ×2 + 43.92sWARNros2_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 + 44.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410996 ms (missed cycles : 3). + 44.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410996 ms (missed cycles : 3).[0m ×2 + 44.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788521283.31455112 seconds ×3 + 45.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.36sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 45.57sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788521284.12290788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682179 ms (missed cycles : 2). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682179 ms (missed cycles : 2).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926084 ms (missed cycles : 4). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926084 ms (missed cycles : 4).[0m ×2 + 46.80sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 46.82sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 46.83sINFOros2_control_node[2026-09-04 11:28:05.388] [info] Received new action goal ×2 + 46.83sINFOros2_control_node[2026-09-04 11:28:05.388] [info] Accepted new action goal ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413514 ms (missed cycles : 2). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413514 ms (missed cycles : 2).[0m ×2 + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438555 ms (missed cycles : 6). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438555 ms (missed cycles : 6).[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 | 98 warnings · 12842 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2106 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2106 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4212 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4212 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009131 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009131 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898027 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898027 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521339.54333067 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279853 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279853 ms (missed cycles : 4).[0m ×2 + 3.40sINFOobjective_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: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.45sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.45sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521340.18053746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_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 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.66sINFOros2_control_node[2026-09-04 11:29:00.344] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-04 11:29:00.344] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921320 ms (missed cycles : 6). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.921320 ms (missed cycles : 6).[0m ×2 + 4.90sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 4.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321036 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321036 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277595 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277595 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502082 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502082 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930639 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930639 ms (missed cycles : 2).[0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749777 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749777 ms (missed cycles : 2).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344859 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344859 ms (missed cycles : 2).[0m ×2 + 10.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161226 ms (missed cycles : 3). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161226 ms (missed cycles : 3).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712166 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712166 ms (missed cycles : 2).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996006 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996006 ms (missed cycles : 2).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222970 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222970 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496213 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496213 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020576 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020576 ms (missed cycles : 2).[0m ×2 + 17.16sWARNros2_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 ×4 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708626 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708626 ms (missed cycles : 2).[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762998 ms (missed cycles : 2). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762998 ms (missed cycles : 2).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767905 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767905 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709087 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709087 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869511 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869511 ms (missed cycles : 2).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 24.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 25.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 25.91sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 25.91sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 25.92sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 25.92sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 28.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 28.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 13.0s | 3 errors · 75 warnings · 284 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521176.78469062 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.78sINFOobjective_server_nodecaller: ×8 + 1.78sINFOobjective_server_nodetype: 0 ×8 + 1.78sINFOobjective_server_nodename: "" ×8 + 1.78sINFOobjective_server_nodeinstance_id: "" ×8 + 1.78sINFOobjective_server_node ×8 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274332 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274332 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733938 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733938 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018387 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018387 ms (missed cycles : 2).[0m ×2 + 8.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.84sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.13sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.18sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.33sINFOobjective_server_nodeFound path in 1 iterations (0.004621 s). ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.59sINFOros2_control_node[2026-09-04 11:26:25.213] [info] Received new action goal ×2 + 9.59sINFOros2_control_node[2026-09-04 11:26:25.213] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004593 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.004593 ms (missed cycles : 5).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671932 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671932 ms (missed cycles : 2).[0m ×2 + 11.89sINFOros2_control_node[2026-09-04 11:26:27.516] [info] Received new action goal ×2 + 11.89sINFOros2_control_node[2026-09-04 11:26:27.516] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799312 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799312 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 13.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.65sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 14.87sWARNros2_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 + 14.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 15.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 16.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.21sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.38sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 16.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 16.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 16.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.3s | 3 errors · 74 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557676 ms (missed cycles : 2). + 0.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557676 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.07sINFOros2_control_node[2026-09-04 11:27:01.709] [info] Received new action goal ×2 + 0.07sINFOros2_control_node[2026-09-04 11:27:01.709] [info] Accepted new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 11:27:02.111] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 11:27:02.111] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565514 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565514 ms (missed cycles : 6).[0m ×2 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820547 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820547 ms (missed cycles : 2).[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 + 2.66sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.66sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.68sERRORobjective_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: 1788521224.31629181 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903976 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903976 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.37sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.37sINFOobjective_server_nodecaller: ×6 + 3.37sINFOobjective_server_nodetype: 0 ×6 + 3.37sINFOobjective_server_nodename: "" ×6 + 3.37sINFOobjective_server_nodeinstance_id: "" ×6 + 3.37sINFOobjective_server_node ×6 + 3.42sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×3 + 3.42sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.42sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.42sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788521225.11993074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.67sINFOros2_control_node[2026-09-04 11:27:05.303] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-09-04 11:27:05.303] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199222 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199222 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524130 ms (missed cycles : 6). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524130 ms (missed cycles : 6).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076844 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076844 ms (missed cycles : 3).[0m ×2 + 6.39sINFOros2_control_node[2026-09-04 11:27:08.022] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-04 11:27:08.022] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600863 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600863 ms (missed cycles : 4).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.485508 ms (missed cycles : 6). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.485508 ms (missed cycles : 6).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406711 ms (missed cycles : 5). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406711 ms (missed cycles : 5).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004365 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004365 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636727 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636727 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353255 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353255 ms (missed cycles : 3).[0m ×2 + 12.79sWARNros2_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 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2).[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788521236.58331823 seconds ×3 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788521237.25379229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788521237.31392622 seconds ×3 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.23sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788521237.91513801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.39sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 16.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.40sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Received new action goal ×2 + 16.40sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Accepted new action goal ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 18.90sWARNros2_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 + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 63 warnings · 228 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260572 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260572 ms (missed cycles : 3).[0m ×2 + 0.06sINFOobjective_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 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.06sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.06sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.06sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.94sINFOros2_control_node[2026-09-04 11:28:02.158] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 11:28:02.158] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497919 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497919 ms (missed cycles : 2).[0m ×2 + 1.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410996 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410996 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788521283.31455112 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788521284.12290788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682179 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682179 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926084 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926084 ms (missed cycles : 4).[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 11:28:05.388] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 11:28:05.388] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413514 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413514 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438555 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438555 ms (missed cycles : 6).[0m ×2 + 6.43sWARNros2_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 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777955 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777955 ms (missed cycles : 2).[0m ×2 + 7.87sINFOobjective_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 + 7.87sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.87sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.87sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.87sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967397 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967397 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820316 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820316 ms (missed cycles : 3).[0m ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 10.27sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.29sINFOros2_control_node[2026-09-04 11:28:11.508] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-04 11:28:11.508] [info] Accepted new action goal ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305152 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305152 ms (missed cycles : 3).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739823 ms (missed cycles : 6). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739823 ms (missed cycles : 6).[0m ×2 + 12.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.825297 ms (missed cycles : 6). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.825297 ms (missed cycles : 6).[0m ×2 + 13.90sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788521295.11666107 seconds ×3 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089446 ms (missed cycles : 5). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089446 ms (missed cycles : 5).[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 + 14.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521295.72985125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 14.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 14.69sINFOros2_control_node[2026-09-04 11:28:15.903] [info] Received new action goal ×2 + 14.69sINFOros2_control_node[2026-09-04 11:28:15.903] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340780 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340780 ms (missed cycles : 2).[0m ×2 + 15.95sINFOobjective_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 + 15.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790513 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790513 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754560 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754560 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 66 warnings · 220 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536498 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536498 ms (missed cycles : 3).[0m ×2 + 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 + 0.27sERRORobjective_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: 1788521210.93361902 seconds ×3 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577647 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577647 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609851 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609851 ms (missed cycles : 2).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.18sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788521213.81271052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-04 11:26:54.016] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-04 11:26:54.017] [info] Accepted new action goal ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649146 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649146 ms (missed cycles : 3).[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009711 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009711 ms (missed cycles : 2).[0m ×2 + 4.96sWARNros2_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 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946276 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946276 ms (missed cycles : 2).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017847 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017847 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.87sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.17sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 7.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.37sINFOobjective_server_nodeFound path in 1 iterations (0.00366282 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 2 iterations (0.00497372 s). ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058622 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058622 ms (missed cycles : 5).[0m ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 1 iterations (0.00344083 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (8.65e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.15sINFOros2_control_node[2026-09-04 11:26:58.780] [info] Received new action goal ×2 + 8.15sINFOros2_control_node[2026-09-04 11:26:58.780] [info] Accepted new action goal ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017998 ms (missed cycles : 4). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017998 ms (missed cycles : 4).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734256 ms (missed cycles : 5). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734256 ms (missed cycles : 5).[0m ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 10.71sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.72sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 10.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 10.83sINFOobjective_server_nodeFound path in 1 iterations (0.00392208 s). ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557676 ms (missed cycles : 2). + 11.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557676 ms (missed cycles : 2).[0m ×2 + 11.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.08sINFOros2_control_node[2026-09-04 11:27:01.709] [info] Received new action goal ×2 + 11.08sINFOros2_control_node[2026-09-04 11:27:01.709] [info] Accepted new action goal ×2 + 11.48sINFOros2_control_node[2026-09-04 11:27:02.111] [info] Received new action goal ×2 + 11.48sINFOros2_control_node[2026-09-04 11:27:02.111] [info] Accepted new action goal ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565514 ms (missed cycles : 6). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565514 ms (missed cycles : 6).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820547 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820547 ms (missed cycles : 2).[0m ×2 + 13.65sINFOobjective_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 + 13.66sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.66sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.68sERRORobjective_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: 1788521224.31629181 seconds ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903976 ms (missed cycles : 6). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903976 ms (missed cycles : 6).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788521225.11993074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 14.67sINFOros2_control_node[2026-09-04 11:27:05.303] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-09-04 11:27:05.303] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199222 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199222 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524130 ms (missed cycles : 6). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524130 ms (missed cycles : 6).[0m ×2 + 17.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076844 ms (missed cycles : 3). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076844 ms (missed cycles : 3).[0m ×2 + 17.39sINFOros2_control_node[2026-09-04 11:27:08.022] [info] Received new action goal ×2 + 17.39sINFOros2_control_node[2026-09-04 11:27:08.022] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 75 warnings · 422 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.01sINFOobjective_server_nodecaller: ×12 + 0.01sINFOobjective_server_nodetype: 0 ×12 + 0.01sINFOobjective_server_nodename: "" ×12 + 0.01sINFOobjective_server_nodeinstance_id: "" ×12 + 0.01sINFOobjective_server_node ×12 + 0.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.06sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.14sWARNros2_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 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 0.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 2.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_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 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 3.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.04sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 4.61sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.53sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 5.55sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 5.55sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055627 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055627 ms (missed cycles : 3).[0m ×2 + 6.94sWARNros2_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 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991159 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991159 ms (missed cycles : 4).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253426 ms (missed cycles : 4). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253426 ms (missed cycles : 4).[0m ×2 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 9.35sINFOros2_control_node[2026-09-04 11:26:01.783] [info] Received new action goal ×2 + 9.35sINFOros2_control_node[2026-09-04 11:26:01.783] [info] Accepted new action goal ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105412 ms (missed cycles : 3). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105412 ms (missed cycles : 3).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084951 ms (missed cycles : 5). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084951 ms (missed cycles : 5).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197242 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197242 ms (missed cycles : 3).[0m ×2 + 12.66sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 12.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 12.68sINFOros2_control_node[2026-09-04 11:26:05.113] [info] Received new action goal ×2 + 12.68sINFOros2_control_node[2026-09-04 11:26:05.113] [info] Accepted new action goal ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633514 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633514 ms (missed cycles : 2).[0m ×2 + 13.35sINFOobjective_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 + 13.35sINFOros2_control_node[2026-09-04 11:26:05.788] [info] Got request to cancel active goal. ×2 + 13.35sINFOros2_control_node[2026-09-04 11:26:05.788] [info] Canceling active goal... ×2 + 13.37sERRORobjective_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: 1788521165.80466986 seconds ×3 + 13.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.91sINFOobjective_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: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556305 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556305 ms (missed cycles : 4).[0m ×2 + 13.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788521166.41409016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 14.19sINFOros2_control_node[2026-09-04 11:26:06.628] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-04 11:26:06.628] [info] Accepted new action goal ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774355 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774355 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740825 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740825 ms (missed cycles : 2).[0m ×2 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.47sINFOros2_control_node[2026-09-04 11:26:08.908] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-09-04 11:26:08.908] [info] Accepted new action goal ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809110 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809110 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 6 errors · 69 warnings · 326 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 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693997 ms (missed cycles : 5). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693997 ms (missed cycles : 5).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915619 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915619 ms (missed cycles : 2).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743840 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743840 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788521394.18585539 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.19sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.19sINFOobjective_server_nodecaller: ×10 + 3.19sINFOobjective_server_nodetype: 0 ×10 + 3.19sINFOobjective_server_nodename: "" ×10 + 3.19sINFOobjective_server_nodeinstance_id: "" ×10 + 3.19sINFOobjective_server_node ×10 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×12 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×12 + 3.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788521394.85317039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.40sINFOros2_control_node[2026-09-04 11:29:54.987] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-04 11:29:54.987] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172587 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172587 ms (missed cycles : 4).[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758792 ms (missed cycles : 6). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758792 ms (missed cycles : 6).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625893 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625893 ms (missed cycles : 5).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048825 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048825 ms (missed cycles : 2).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533067 ms (missed cycles : 4). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533067 ms (missed cycles : 4).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488123 ms (missed cycles : 4). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488123 ms (missed cycles : 4).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700082 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700082 ms (missed cycles : 2).[0m ×2 + 11.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 13.59sINFOobjective_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 + 13.59sERRORobjective_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: 1788521405.18348646 seconds ×3 + 14.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.14sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.19sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 14.19sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 14.19sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 14.19sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 16.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.29sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.35sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.46sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 16.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.47sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 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 · 69 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084951 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084951 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197242 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197242 ms (missed cycles : 3).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.78sINFOros2_control_node[2026-09-04 11:26:05.113] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-09-04 11:26:05.113] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633514 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633514 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_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 ×6 + 2.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.46sINFOros2_control_node[2026-09-04 11:26:05.788] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-09-04 11:26:05.788] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1788521165.80466986 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.01sINFOobjective_server_nodecaller: ×6 + 3.01sINFOobjective_server_nodetype: 0 ×6 + 3.01sINFOobjective_server_nodename: "" ×6 + 3.01sINFOobjective_server_nodeinstance_id: "" ×6 + 3.01sINFOobjective_server_node ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556305 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556305 ms (missed cycles : 4).[0m ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×3 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788521166.41409016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.30sINFOros2_control_node[2026-09-04 11:26:06.628] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-09-04 11:26:06.628] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774355 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774355 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740825 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740825 ms (missed cycles : 2).[0m ×2 + 5.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.58sINFOros2_control_node[2026-09-04 11:26:08.908] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 11:26:08.908] [info] Accepted new action goal ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809110 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809110 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227762 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227762 ms (missed cycles : 5).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197118 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197118 ms (missed cycles : 2).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961801 ms (missed cycles : 5). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961801 ms (missed cycles : 5).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698180 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698180 ms (missed cycles : 2).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 13.46sERRORobjective_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: 1788521176.78469062 seconds ×3 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.07sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 60 warnings · 143 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775166 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775166 ms (missed cycles : 2).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331463 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331463 ms (missed cycles : 3).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921133 ms (missed cycles : 3). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921133 ms (missed cycles : 3).[0m ×2 + 9.10sWARNros2_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 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401017 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401017 ms (missed cycles : 2).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372102 ms (missed cycles : 4). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372102 ms (missed cycles : 4).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818834 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818834 ms (missed cycles : 3).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913297 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913297 ms (missed cycles : 2).[0m ×2 + 13.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521383.68414021 seconds ×3 + 13.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.99sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788521384.27802920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 14.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.34sINFOros2_control_node[2026-09-04 11:29:44.582] [info] Received new action goal ×2 + 14.34sINFOros2_control_node[2026-09-04 11:29:44.582] [info] Accepted new action goal ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832352 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832352 ms (missed cycles : 2).[0m ×2 + 15.22sWARNros2_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 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016013 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016013 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612624 ms (missed cycles : 4). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612624 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 66 warnings · 198 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391605 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391605 ms (missed cycles : 4).[0m ×2 + 7.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.02sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 1 iterations (0.0030548 s). ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225314 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225314 ms (missed cycles : 5).[0m ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 2 iterations (0.00764485 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 1 iterations (0.00497314 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.39sINFOros2_control_node[2026-09-04 11:26:48.368] [info] Received new action goal ×2 + 8.39sINFOros2_control_node[2026-09-04 11:26:48.368] [info] Accepted new action goal ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794435 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794435 ms (missed cycles : 2).[0m ×2 + 9.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978366 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978366 ms (missed cycles : 2).[0m ×2 + 10.66sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536498 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536498 ms (missed cycles : 3).[0m ×2 + 10.93sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.93sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.93sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788521210.93361902 seconds ×3 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577647 ms (missed cycles : 3). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577647 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609851 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609851 ms (missed cycles : 2).[0m ×2 + 13.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.75sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.84sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788521213.81271052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 14.04sINFOros2_control_node[2026-09-04 11:26:54.016] [info] Received new action goal ×2 + 14.04sINFOros2_control_node[2026-09-04 11:26:54.017] [info] Accepted new action goal ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649146 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649146 ms (missed cycles : 3).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009711 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009711 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946276 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946276 ms (missed cycles : 2).[0m ×2 + 17.07sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017847 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017847 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 63 warnings · 1934 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×288 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×576 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×576 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.18sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.60sINFOobjective_server_nodeFound path in 1 iterations (0.00380352 s). ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353606 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353606 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.81sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 7.83sINFOros2_control_node[2026-09-04 11:29:26.644] [info] Received new action goal ×2 + 7.83sINFOros2_control_node[2026-09-04 11:29:26.645] [info] Accepted new action goal ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193431 ms (missed cycles : 5). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193431 ms (missed cycles : 5).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361168 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361168 ms (missed cycles : 2).[0m ×2 + 10.13sINFOros2_control_node[2026-09-04 11:29:28.947] [info] Received new action goal ×2 + 10.13sINFOros2_control_node[2026-09-04 11:29:28.947] [info] Accepted new action goal ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903055 ms (missed cycles : 4). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903055 ms (missed cycles : 4).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 11.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.00sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 13.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 13.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 14.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.44sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.71sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 14.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 16.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 66 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.48sINFOobjective_server_nodecaller: ×6 + 2.48sINFOobjective_server_nodetype: 0 ×6 + 2.48sINFOobjective_server_nodename: "" ×6 + 2.48sINFOobjective_server_nodeinstance_id: "" ×6 + 2.48sINFOobjective_server_node ×6 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243298 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.243298 ms (missed cycles : 5).[0m ×2 + 7.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147636 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147636 ms (missed cycles : 2).[0m ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×4 + 9.11sINFOros2_control_node[2026-09-04 11:26:37.724] [info] Received new action goal ×2 + 9.11sINFOros2_control_node[2026-09-04 11:26:37.724] [info] Accepted new action goal ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248309 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248309 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195199 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195199 ms (missed cycles : 2).[0m ×2 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.46sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 13.56sINFOobjective_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 + 13.57sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 13.57sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 13.59sERRORobjective_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: 1788521202.20569038 seconds ×3 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 13.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.42sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 14.42sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 9 errors · 81 warnings · 494 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 0.13sINFOobjective_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 + 0.13sERRORobjective_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: 1788521405.18348646 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×9 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×18 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×9 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×18 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.68sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×16 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.68sINFOobjective_server_nodecaller: ×16 + 0.68sINFOobjective_server_nodetype: 0 ×16 + 0.68sINFOobjective_server_nodename: "" ×16 + 0.68sINFOobjective_server_nodeinstance_id: "" ×16 + 0.68sINFOobjective_server_node ×16 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered: ×16 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×18 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×18 + 0.72sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 0.73sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 0.73sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.73sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 4.37sWARNros2_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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.31sINFOros2_control_node[2026-09-04 11:30:11.362] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 11:30:11.362] [info] Accepted new action goal ×2 + 6.31sINFOros2_control_node[2026-09-04 11:30:11.363] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331011 ms (missed cycles : 6). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331011 ms (missed cycles : 6).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765122 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765122 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689024 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689024 ms (missed cycles : 3).[0m ×2 + 9.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619918 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619918 ms (missed cycles : 4).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4).[0m ×2 + 13.13sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 13.13sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 13.14sERRORobjective_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: 1788521418.19362521 seconds ×3 + 13.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 13.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sWARNros2_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 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 14.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 15.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.41sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.47sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.47sINFOobjective_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 + 15.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 16.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.06sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 16.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 60 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372102 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372102 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818834 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818834 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913297 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913297 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521383.68414021 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.93sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.93sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.93sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.93sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.94sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788521384.27802920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 11:29:44.582] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 11:29:44.582] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832352 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832352 ms (missed cycles : 2).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016013 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016013 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612624 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612624 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519795 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.519795 ms (missed cycles : 5).[0m ×2 + 7.26sINFOros2_control_node[2026-09-04 11:29:48.601] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-09-04 11:29:48.601] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992530 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992530 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982728 ms (missed cycles : 4). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982728 ms (missed cycles : 4).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885299 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885299 ms (missed cycles : 2).[0m ×2 + 10.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693997 ms (missed cycles : 5). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693997 ms (missed cycles : 5).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915619 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915619 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743840 ms (missed cycles : 5). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743840 ms (missed cycles : 5).[0m ×2 + 12.85sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788521394.18585539 seconds ×3 + 13.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.44sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788521394.85317039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.63sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 13.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.65sINFOros2_control_node[2026-09-04 11:29:54.987] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-09-04 11:29:54.987] [info] Accepted new action goal ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172587 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172587 ms (missed cycles : 4).[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758792 ms (missed cycles : 6). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758792 ms (missed cycles : 6).[0m ×2 + 15.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.71sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625893 ms (missed cycles : 5). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625893 ms (missed cycles : 5).[0m ×2 + 16.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.1s | 49 errors · 51 warnings · 379 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521418.19362521 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.61sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 2.28sINFOobjective_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 + 2.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521423.10553455 seconds ×3 + 4.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414633 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414633 ms (missed cycles : 3).[0m ×2 + 6.38sWARNros2_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 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237783 ms (missed cycles : 5). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237783 ms (missed cycles : 5).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531917 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531917 ms (missed cycles : 3).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395560 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395560 ms (missed cycles : 2).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852251 ms (missed cycles : 2). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852251 ms (missed cycles : 2).[0m ×2 + 10.58sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.59sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.60sERRORweb_video_auth_proxy-23process has died [pid 8801, 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 + 10.60sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.60sERRORweb_bridge_auth_proxy-22process has died [pid 8800, 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 + 10.60sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.60sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.61sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.61sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.62sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.62sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.63sINFOvideo_server-21process has finished cleanly [pid 8799] ×2 + 10.63sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.63sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.64sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.65sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.65sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.65sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.66sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.66sINFOcontroller_managerShutdown request received.... + 10.66sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.66sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.66sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.66sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.66sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.66sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.66sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.66sINFOvideo_server2026/09/04 11:30:28 INF shutting down gracefully ×2 + 10.66sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.66sINFOvideo_server2026/09/04 11:30:28 INF [WebRTC] closing ×2 + 10.66sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.66sINFOvideo_server2026/09/04 11:30:28 INF [RTSP] closing ×2 + 10.66sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.66sINFOvideo_server2026/09/04 11:30:28 INF waiting for running hooks ×2 + 10.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.66sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.66sINFOcontroller_managerShutting down the controller manager. + 10.67sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.67sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.67sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.67sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.67sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.67sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.67sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.67sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.67sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.83sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8798] ×2 + 10.83sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.86sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8714] ×2 + 10.86sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8713] ×2 + 10.87sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.87sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.87sINFOcomponent_container_mt-16process has finished cleanly [pid 8717] ×2 + 10.87sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.88sINFOparameter_manager_node-10process has finished cleanly [pid 8711] ×2 + 10.88sINFOwaypoint_manager_node-11process has finished cleanly [pid 8712] ×2 + 10.88sINFOui_teleop_bridge-18process has finished cleanly [pid 8719] ×2 + 10.91sINFOexecute_objective_bridge-17process has finished cleanly [pid 8718] ×2 + 10.98sINFOmove_group-9process has finished cleanly [pid 8710] ×2 + 10.98sINFOcomponent_container_mt-15process has finished cleanly [pid 8716] ×2 + 11.01sINFOobjective_server_node[0;m[2026-09-04 11:30:29.190] [moveit_pro_license] [info] ×2 + 11.01sINFOobjective_server_node************************************************* ×4 + 11.01sINFOobjective_server_node* MoveIt Pro License ×2 + 11.01sINFOobjective_server_node* Application has successfully terminated ×2 + 11.17sINFOobjective_server_node_main-14process has finished cleanly [pid 8715] ×2 + 11.17sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.66sINFOros2_control_node-1process has finished cleanly [pid 8673] ×2 + 11.84sINFOweb_bridge-19process has finished cleanly [pid 8720] ×2 + 11.84sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 41 warnings · 228 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5).[0m ×2 + 1.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788521236.58331823 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.80sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.80sINFOobjective_server_nodecaller: ×6 + 1.80sINFOobjective_server_nodetype: 0 ×6 + 1.80sINFOobjective_server_nodename: "" ×6 + 1.80sINFOobjective_server_nodeinstance_id: "" ×6 + 1.80sINFOobjective_server_node ×6 + 1.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×3 + 1.85sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×6 + 1.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 1.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788521237.25379229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788521237.31392622 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788521237.91513801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 2.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.64sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 5.13sWARNros2_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 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.25sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.32sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.41sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 6.75sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 9.63sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 9.63sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 41 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1788521418.19362521 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.05sINFOobjective_server_nodecaller: ×8 + 3.05sINFOobjective_server_nodetype: 0 ×8 + 3.05sINFOobjective_server_nodename: "" ×8 + 3.05sINFOobjective_server_nodeinstance_id: "" ×8 + 3.05sINFOobjective_server_node ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.84sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5).[0m ×2 + 7.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521423.10553455 seconds ×3 + 7.46sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 52 warnings · 597 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.15sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.15sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.20sINFOros2-2process has finished cleanly [pid 8674] ×2 + 0.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.26sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.27sINFOros2_control_node[2026-09-04 11:25:47.955] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.27sINFOros2_control_node[2026-09-04 11:25:47.955] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.29sINFOros2_control_node[2026-09-04 11:25:47.980] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.29sINFOros2_control_node[2026-09-04 11:25:47.980] [info] Controller state will be published at 50 Hz. ×2 + 0.30sINFOros2_control_node[2026-09-04 11:25:47.986] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075954 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075954 ms (missed cycles : 3).[0m ×2 + 0.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.65sINFOros2-6process has finished cleanly [pid 8678] ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.65sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.65sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.65sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.66sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.66sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.67sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.97sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.97sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.97sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.98sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.98sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.01sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.01sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.01sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.01sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.01sINFOros2-4process has finished cleanly [pid 8676] ×2 + 1.02sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.02sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 1.38sINFOros2-3process has finished cleanly [pid 8675] ×2 + 1.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4).[0m ×2 + 1.70sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.70sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.70sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2-5process has finished cleanly [pid 8677] ×2 + 1.73sWARNobjective_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 + 1.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 1.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 1.81sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.83sINFOros2_control_node[2026-09-04 11:25:49.520] [info] Controller state will be published at 20 Hz. ×2 + 1.83sINFOros2_control_node[2026-09-04 11:25:49.521] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.86sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.20sINFOros2-8process has finished cleanly [pid 8680] ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.45sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.45sINFOobjective_server_nodecaller: ×14 + 2.45sINFOobjective_server_nodetype: 0 ×14 + 2.45sINFOobjective_server_nodename: "" ×14 + 2.45sINFOobjective_server_nodeinstance_id: "" ×14 + 2.45sINFOobjective_server_node ×14 + 2.49sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 2.49sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 2.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.09sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 6.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 7.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.59sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.79sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 29 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_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: 1788521176.78469062 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.7s | 6 errors · 35 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 1.25sINFOobjective_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 + 1.25sERRORobjective_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: 1788521405.18348646 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.80sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.80sINFOobjective_server_nodecaller: ×8 + 1.80sINFOobjective_server_nodetype: 0 ×8 + 1.80sINFOobjective_server_nodename: "" ×8 + 1.80sINFOobjective_server_nodeinstance_id: "" ×8 + 1.80sINFOobjective_server_node ×8 + 1.84sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.84sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 1.85sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.85sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.85sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.13sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 5.49sWARNros2_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 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 31 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353255 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788521236.58331823 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788521237.25379229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788521237.31392622 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788521237.91513801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 6.14sWARNros2_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 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 29 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 49 warnings · 464 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOros2-5process has finished cleanly [pid 8677] ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.520] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.521] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOros2-8process has finished cleanly [pid 8680] ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.80sINFOobjective_server_nodecaller: ×14 + 0.80sINFOobjective_server_nodetype: 0 ×14 + 0.80sINFOobjective_server_nodename: "" ×14 + 0.80sINFOobjective_server_nodeinstance_id: "" ×14 + 0.80sINFOobjective_server_node ×14 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_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 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 40 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4).[0m ×2 + 0.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 0.48sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 0.48sERRORobjective_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: 1788521418.19362521 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.03sINFOobjective_server_nodecaller: ×8 + 1.03sINFOobjective_server_nodetype: 0 ×8 + 1.03sINFOobjective_server_nodename: "" ×8 + 1.03sINFOobjective_server_nodeinstance_id: "" ×8 + 1.03sINFOobjective_server_node ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 1.08sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.08sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.08sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.08sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.81sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521423.10553455 seconds ×3 + 5.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414633 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414633 ms (missed cycles : 3).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 6 errors · 35 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521405.18348646 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.95sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.95sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 38 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4).[0m ×2 + 0.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 0.48sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 0.48sERRORobjective_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: 1788521418.19362521 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.03sINFOobjective_server_nodecaller: ×8 + 1.03sINFOobjective_server_nodetype: 0 ×8 + 1.03sINFOobjective_server_nodename: "" ×8 + 1.03sINFOobjective_server_nodeinstance_id: "" ×8 + 1.03sINFOobjective_server_node ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 1.08sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.08sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.08sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.08sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.81sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.02sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631517 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.931048 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521423.10553455 seconds ×3 + 5.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414633 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414633 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 26 warnings · 1820 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×288 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×576 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×576 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 29 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_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: 1788521176.78469062 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 29 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961044 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_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: 1788521176.78469062 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 26 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521176.78469062 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.78sINFOobjective_server_nodecaller: ×4 + 1.78sINFOobjective_server_nodetype: 0 ×4 + 1.78sINFOobjective_server_nodename: "" ×4 + 1.78sINFOobjective_server_nodeinstance_id: "" ×4 + 1.78sINFOobjective_server_node ×4 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 26 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521176.78469062 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.78sINFOobjective_server_nodecaller: ×4 + 1.78sINFOobjective_server_nodetype: 0 ×4 + 1.78sINFOobjective_server_nodename: "" ×4 + 1.78sINFOobjective_server_nodeinstance_id: "" ×4 + 1.78sINFOobjective_server_node ×4 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 26 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521176.78469062 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.78sINFOobjective_server_nodecaller: ×4 + 1.78sINFOobjective_server_nodetype: 0 ×4 + 1.78sINFOobjective_server_nodename: "" ×4 + 1.78sINFOobjective_server_nodeinstance_id: "" ×4 + 1.78sINFOobjective_server_node ×4 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 26 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904739 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712903 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521176.78469062 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.78sINFOobjective_server_nodecaller: ×4 + 1.78sINFOobjective_server_nodetype: 0 ×4 + 1.78sINFOobjective_server_nodename: "" ×4 + 1.78sINFOobjective_server_nodeinstance_id: "" ×4 + 1.78sINFOobjective_server_node ×4 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788521177.45679712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788521177.54692459 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487927 ms (missed cycles : 5).[0m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788521178.19974160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.76sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 2.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Received new action goal ×2 + 2.77sINFOros2_control_node[2026-09-04 11:26:18.394] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716593 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.324211 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971047 ms (missed cycles : 2).[0m ×2 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Received new action goal ×2 + 0.66sINFOros2_control_node[2026-09-04 11:26:29.278] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868307 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_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 + 1.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788521190.56401300 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661313 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.48sINFOobjective_server_nodecaller: ×4 + 2.48sINFOobjective_server_nodetype: 0 ×4 + 2.48sINFOobjective_server_nodename: "" ×4 + 2.48sINFOobjective_server_nodeinstance_id: "" ×4 + 2.48sINFOobjective_server_node ×4 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788521191.18804717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788521191.26818633 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515294 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788521191.89278245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (6.32e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 11:26:32.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377260 ms (missed cycles : 3).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759187 ms (missed cycles : 6).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021978 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-04 11:26:35.386] [info] Accepted new action goal ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 11:26:40.074] [info] Accepted new action goal ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747952 ms (missed cycles : 3).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285535 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-09-04 11:26:42.193] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1788521202.20569038 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188395 ms (missed cycles : 2).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.80sINFOobjective_server_nodecaller: ×2 + 2.80sINFOobjective_server_nodetype: 0 ×2 + 2.80sINFOobjective_server_nodename: "" ×2 + 2.80sINFOobjective_server_nodeinstance_id: "" ×2 + 2.80sINFOobjective_server_node ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788521202.84148073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Received new action goal ×2 + 3.06sINFOros2_control_node[2026-09-04 11:26:43.035] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895899 ms (missed cycles : 3).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905648 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875874 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 28 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557676 ms (missed cycles : 2). + 0.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557676 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.07sINFOros2_control_node[2026-09-04 11:27:01.709] [info] Received new action goal ×2 + 0.07sINFOros2_control_node[2026-09-04 11:27:01.709] [info] Accepted new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 11:27:02.111] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 11:27:02.111] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565514 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.565514 ms (missed cycles : 6).[0m ×2 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820547 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820547 ms (missed cycles : 2).[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 + 2.66sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.66sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.68sERRORobjective_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: 1788521224.31629181 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903976 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.903976 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.42sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.42sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.42sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.42sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788521225.11993074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.67sINFOros2_control_node[2026-09-04 11:27:05.303] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-09-04 11:27:05.303] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199222 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199222 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524130 ms (missed cycles : 6). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524130 ms (missed cycles : 6).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076844 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076844 ms (missed cycles : 3).[0m ×2 + 6.39sINFOros2_control_node[2026-09-04 11:27:08.022] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-04 11:27:08.022] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 31 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353255 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353255 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021947 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949947 ms (missed cycles : 5).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788521236.58331823 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788521237.25379229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788521237.31392622 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421311 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788521237.91513801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 11:27:18.039] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 6.14sWARNros2_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 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 26 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863666 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322232 ms (missed cycles : 5).[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788521240.04528260 seconds ×3 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130928 ms (missed cycles : 5).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788521241.71434450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913299 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOobjective_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 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-04 11:27:22.152] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833661 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504313 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902347 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-09-04 11:27:25.028] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739823 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.739823 ms (missed cycles : 6).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.825297 ms (missed cycles : 6). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.825297 ms (missed cycles : 6).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788521295.11666107 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089446 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089446 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.60sINFOobjective_server_nodecaller: ×2 + 2.60sINFOobjective_server_nodetype: 0 ×2 + 2.60sINFOobjective_server_nodename: "" ×2 + 2.60sINFOobjective_server_nodeinstance_id: "" ×2 + 2.60sINFOobjective_server_node ×2 + 2.65sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.66sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521295.72985125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.83sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 2.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.85sINFOros2_control_node[2026-09-04 11:28:15.903] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-09-04 11:28:15.903] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340780 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340780 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.12sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790513 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790513 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754560 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754560 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 26 warnings · 1820 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×288 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×576 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×576 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 26 warnings · 1820 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×288 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×576 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×576 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 26 warnings · 1820 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×288 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×576 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×576 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 26 warnings · 1820 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×288 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×288 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×576 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×576 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331312 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430187 ms (missed cycles : 2).[0m ×2 + 1.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521361.67016912 seconds ×3 + 2.86sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.86sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389260 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521362.40734243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_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 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-04 11:29:22.611] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374111 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666097 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215894 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551135 ms (missed cycles : 6).[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-09-04 11:29:30.811] [info] Accepted new action goal ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835543 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788521372.09754872 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381275 ms (missed cycles : 6).[0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521373.34359503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-04 11:29:33.527] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.417044 ms (missed cycles : 6).[0m ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599962 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739353 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372102 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372102 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818834 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818834 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913297 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913297 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521383.68414021 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.93sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.93sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.93sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.93sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.94sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788521384.27802920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.24sINFOros2_control_node[2026-09-04 11:29:44.582] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-04 11:29:44.582] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832352 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832352 ms (missed cycles : 2).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016013 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016013 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612624 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612624 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 70 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 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693997 ms (missed cycles : 5). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693997 ms (missed cycles : 5).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915619 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915619 ms (missed cycles : 2).[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743840 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743840 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788521394.18585539 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.25sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788521394.85317039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.40sINFOros2_control_node[2026-09-04 11:29:54.987] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-04 11:29:54.987] [info] Accepted new action goal ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172587 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172587 ms (missed cycles : 4).[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758792 ms (missed cycles : 6). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758792 ms (missed cycles : 6).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625893 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625893 ms (missed cycles : 5).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 6 errors · 32 warnings · 256 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sERRORobjective_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: 1788521405.18348646 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.05sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.05sINFOobjective_server_nodecaller: ×8 + 3.05sINFOobjective_server_nodetype: 0 ×8 + 3.05sINFOobjective_server_nodename: "" ×8 + 3.05sINFOobjective_server_nodeinstance_id: "" ×8 + 3.05sINFOobjective_server_node ×8 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.10sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 3.10sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.10sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 3.10sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.52sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.25sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.38sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 6 errors · 35 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521405.18348646 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.95sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.95sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 6 errors · 35 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521405.18348646 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.95sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.95sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 6 errors · 35 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241307 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736711 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521405.18348646 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.90sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.90sINFOobjective_server_nodecaller: ×8 + 2.90sINFOobjective_server_nodetype: 0 ×8 + 2.90sINFOobjective_server_nodename: "" ×8 + 2.90sINFOobjective_server_nodeinstance_id: "" ×8 + 2.90sINFOobjective_server_node ×8 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.95sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 2.95sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.95sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.95sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 6 errors · 32 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 0.13sINFOobjective_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 + 0.13sERRORobjective_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: 1788521405.18348646 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.68sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.68sINFOobjective_server_nodecaller: ×8 + 0.68sINFOobjective_server_nodetype: 0 ×8 + 0.68sINFOobjective_server_nodename: "" ×8 + 0.68sINFOobjective_server_nodeinstance_id: "" ×8 + 0.68sINFOobjective_server_node ×8 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 0.73sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 0.73sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.73sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 4.37sWARNros2_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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 6 errors · 32 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 0.13sINFOobjective_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 + 0.13sERRORobjective_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: 1788521405.18348646 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.68sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.68sINFOobjective_server_nodecaller: ×8 + 0.68sINFOobjective_server_nodetype: 0 ×8 + 0.68sINFOobjective_server_nodename: "" ×8 + 0.68sINFOobjective_server_nodeinstance_id: "" ×8 + 0.68sINFOobjective_server_node ×8 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 0.73sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 0.73sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.73sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 4.37sWARNros2_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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 6 errors · 32 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 0.13sINFOobjective_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 + 0.13sERRORobjective_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: 1788521405.18348646 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.68sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.68sINFOobjective_server_nodecaller: ×8 + 0.68sINFOobjective_server_nodetype: 0 ×8 + 0.68sINFOobjective_server_nodename: "" ×8 + 0.68sINFOobjective_server_nodeinstance_id: "" ×8 + 0.68sINFOobjective_server_node ×8 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 0.73sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 0.73sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.73sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 4.37sWARNros2_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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 6 errors · 32 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769905 ms (missed cycles : 4).[0m ×2 + 0.13sINFOobjective_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 + 0.13sERRORobjective_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: 1788521405.18348646 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.68sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.68sINFOobjective_server_nodecaller: ×8 + 0.68sINFOobjective_server_nodetype: 0 ×8 + 0.68sINFOobjective_server_nodename: "" ×8 + 0.68sINFOobjective_server_nodeinstance_id: "" ×8 + 0.68sINFOobjective_server_node ×8 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.72sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.72sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage + 0.73sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 0.73sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.73sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951312 ms (missed cycles : 3).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521406.55421257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 1.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 1.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521406.60433626 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521407.20004320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_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 + 2.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521407.22278500 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.991092 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521407.93855047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-04 11:30:08.062] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911668 ms (missed cycles : 2).[0m ×2 + 4.37sWARNros2_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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816291 ms (missed cycles : 4).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576474 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 35 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1788521418.19362521 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.05sINFOobjective_server_nodecaller: ×8 + 3.05sINFOobjective_server_nodetype: 0 ×8 + 3.05sINFOobjective_server_nodename: "" ×8 + 3.05sINFOobjective_server_nodeinstance_id: "" ×8 + 3.05sINFOobjective_server_node ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.84sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 35 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903882 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855068 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451413 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-09-04 11:30:18.188] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1788521418.19362521 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.05sINFOobjective_server_nodecaller: ×8 + 3.05sINFOobjective_server_nodetype: 0 ×8 + 3.05sINFOobjective_server_nodename: "" ×8 + 3.05sINFOobjective_server_nodeinstance_id: "" ×8 + 3.05sINFOobjective_server_node ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213835 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521418.79453802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419654 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521419.92469335 seconds ×3 + 4.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521420.52223063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.84sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521420.52523184 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914603 ms (missed cycles : 5).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521421.17757320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521421.17814112 seconds ×3 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521421.77501488 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 | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.6s | 39 errors · 406 warnings · 12148 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-11-20-54-848302-e274dd432c22-7338 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 0.83sINFOros2_control_node-1process started with pid [7386] + 0.83sINFOmove_group-9process started with pid [7435] + 0.83sINFOparameter_manager_node-10process started with pid [7436] + 0.83sINFOwaypoint_manager_node-11process started with pid [7437] + 0.83sINFOmove_joint_resampler_node-12process started with pid [7438] + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7439] + 0.83sINFOobjective_server_node_main-14process started with pid [7440] + 0.83sINFOcomponent_container_mt-15process started with pid [7441] + 0.83sINFOcomponent_container_mt-16process started with pid [7442] + 0.83sINFOexecute_objective_bridge-17process started with pid [7443] + 0.83sINFOui_teleop_bridge-18process started with pid [7444] + 0.83sINFOweb_bridge-19process started with pid [7445] + 0.83sINFOtf2_web_republisher_node-20process started with pid [7501] + 0.83sINFOvideo_server-21process started with pid [7502] + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7505] + 0.83sINFOweb_video_auth_proxy-23process started with pid [7506] + 0.84sINFOros2-2process started with pid [7387] + 0.84sINFOros2-3process started with pid [7388] + 0.84sINFOros2-4process started with pid [7400] + 0.84sINFOros2-5process started with pid [7401] + 0.84sINFOros2-6process started with pid [7402] + 0.84sINFOros2-7process started with pid [7403] + 0.84sINFOros2-8process started with pid [7404] + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 0.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291053 ms (missed cycles : 3).[0m + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 1.17sINFOvideo_server2026/09/04 11:20:56 INF MediaMTX v1.20.1, linux, amd64 + 1.17sINFOvideo_server2026/09/04 11:20:56 INF configuration loaded from /tmp/moveit-webrtc-8jgyotvw/mediamtx.yml + 1.17sINFOvideo_server2026/09/04 11:20:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 1.18sINFOvideo_server2026/09/04 11:20:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 1.79sINFOmove_group[2026-09-04 11:20:57.017] [moveit_pro_license] [info] + 1.79sINFOmove_group************************************************* ×6 + 1.79sINFOmove_group* MoveIt Pro License ×3 + 1.79sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.03sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 2.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 2.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 2.13sINFOros2_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 ×3 + 2.13sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 2.21sINFOmove_group ×6 + 2.21sINFOmove_group[92mYou can start planning now![0m ×3 + 2.34sINFOwaypoint_manager_node[2026-09-04 11:20:57.562] [moveit_pro_license] [info] + 2.34sINFOwaypoint_manager_node************************************************* ×6 + 2.34sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 2.34sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990861 ms (missed cycles : 2).[0m + 2.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 3.47sINFOobjective_server_node[2026-09-04 11:20:58.698] [moveit_pro_license] [info] + 3.47sINFOobjective_server_node************************************************* ×8 + 3.47sINFOobjective_server_node* MoveIt Pro License ×4 + 3.47sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.60sINFOobjective_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. ×3 + 3.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 3.61sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 3.61sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 3.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 4.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 4.07sINFOcomponent_container_mt[2026-09-04 11:20:59.293] [moveit_pro_license] [info] + 4.07sINFOcomponent_container_mt************************************************* ×6 + 4.07sINFOcomponent_container_mt* MoveIt Pro License ×3 + 4.07sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 4.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 4.12sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 4.12sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 4.12sWARNros2_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: ×3 + 4.12sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×3 + 4.12sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×3 + 4.12sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 4.12sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 4.12sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 4.12sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 4.12sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 4.12sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×3 + 4.12sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×3 + 4.12sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 4.12sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×3 + 4.12sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 4.12sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×3 + 4.13sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×3 + 4.13sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×3 + 4.13sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×3 + 4.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 4.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 4.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 4.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 4.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 4.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 4.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 4.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 4.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 4.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 4.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 4.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 4.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 4.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 4.31sINFOros2_control_nodeconfigure successful[0m ×3 + 4.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×119 + 4.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039451 ms (missed cycles : 2).[0m + 4.61sINFOros2-2process has finished cleanly [pid 7387] + 4.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 4.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 4.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 4.63sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×3 + 4.63sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 4.63sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 4.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 4.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 4.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 4.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 4.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 4.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 4.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×5 + 4.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 4.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 4.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 4.97sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 5.00sINFOros2-5process has finished cleanly [pid 7401] + 5.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 5.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 5.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 5.02sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 5.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 5.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 5.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 5.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 5.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 5.36sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 5.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 5.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 5.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 5.38sINFOros2-4process has finished cleanly [pid 7400] + 5.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 5.55sWARNobjective_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/. ×3 + 5.68sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 5.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 5.72sINFOros2-3process has finished cleanly [pid 7388] + 5.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 5.83sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 5.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 5.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 5.86sINFOros2_control_node[2026-09-04 11:21:01.091] [info] Controller state will be published at 10 Hz. + 5.86sINFOros2_control_node[2026-09-04 11:21:01.092] [info] VelocityForceController 'on_configure' succeeded. + 5.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 5.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 5.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 5.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×90 + 6.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×48 + 6.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×46 + 6.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.18sINFOros2-7process has finished cleanly [pid 7403] + 6.18sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 6.18sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 6.25sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 6.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 6.29sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 6.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 6.30sINFOros2_control_node[2026-09-04 11:21:01.526] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 6.30sINFOros2_control_node[2026-09-04 11:21:01.526] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 6.32sINFOros2_control_node[2026-09-04 11:21:01.551] [info] First order lag filter time constant set to: 0.2 seconds + 6.32sINFOros2_control_node[2026-09-04 11:21:01.551] [info] Controller state will be published at 50 Hz. + 6.33sINFOros2_control_node[2026-09-04 11:21:01.556] [info] Registered `FollowJointTrajectory` action server. + 6.60sINFOobjective_server_nodeReceived /do_objective goal: ×43 + 6.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 6.60sINFOobjective_server_nodeobjective_xml_string: "" ×43 + 6.60sINFOobjective_server_nodeparameter_overrides: [] ×43 + 6.60sINFOobjective_server_nodecaller: ×43 + 6.60sINFOobjective_server_nodetype: 0 ×43 + 6.60sINFOobjective_server_nodename: "" ×43 + 6.60sINFOobjective_server_nodeinstance_id: "" ×43 + 6.60sINFOobjective_server_node ×43 + 6.65sWARNobjective_server_nodeNot all Objectives could be registered: ×43 + 6.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×44 + 6.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×44 + 6.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788520861.88592935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 6.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788520861.89625835 seconds + 6.68sINFOros2-6process has finished cleanly [pid 7402] + 6.70sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 6.70sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081077 ms (missed cycles : 2).[0m + 6.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_0_hs2a63 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_55uusr69 --params-file /tmp/launch_params_dg23vt7i [0m + 6.80sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 6.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 6.83sINFOros2_control_node[2026-09-04 11:21:02.059] [info] Controller state will be published at 20 Hz. + 6.83sINFOros2_control_node[2026-09-04 11:21:02.060] [info] JointVelocityController 'on_configure' succeeded. + 7.07sINFOros2-8process has finished cleanly [pid 7404] + 7.21sINFOobjective_server_nodeobjective_name: "Close Gripper" ×3 + 7.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788520862.48548079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 7.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×22 + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288660 ms (missed cycles : 2).[0m + 8.22sWARNros2_control_nodeCamera render tick took 1.83 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 + 8.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788520863.59566522 seconds + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966655 ms (missed cycles : 3).[0m + 8.94sINFOobjective_server_nodeobjective_name: "Open Gripper" ×3 + 8.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788520864.21670461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788520864.27688837 seconds + 9.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 9.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788520864.93387556 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788520864.95402741 seconds + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393257 ms (missed cycles : 6).[0m + 10.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 10.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788520865.54629064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788520865.69686317 seconds + 10.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×9 + 11.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" + 11.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788520866.37402225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 11.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.976949 ms (missed cycles : 8).[0m + 11.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788520866.43414783 seconds + 11.75sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" + 11.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788520867.04119754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 11.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 11.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×3 + 11.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×3 + 11.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 11.93sINFOobjective_server_nodeFound path in 0 iterations (2.196e-05 s). + 11.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 11.95sINFOros2_control_node[2026-09-04 11:21:07.177] [info] Received new action goal + 11.95sINFOros2_control_node[2026-09-04 11:21:07.177] [info] Accepted new action goal + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267803 ms (missed cycles : 2).[0m + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441012 ms (missed cycles : 2).[0m + 14.15sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.264016 ms (missed cycles : 5).[0m + 14.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×37 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 14.45sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.46sINFOros2_control_node[2026-09-04 11:21:09.685] [info] Received new action goal + 14.46sINFOros2_control_node[2026-09-04 11:21:09.685] [info] Accepted new action goal + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789237 ms (missed cycles : 3).[0m + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879284 ms (missed cycles : 2).[0m + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394973 ms (missed cycles : 3).[0m + 18.23sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). + 18.26sINFOros2_control_node[2026-09-04 11:21:13.486] [info] Received new action goal + 18.26sINFOros2_control_node[2026-09-04 11:21:13.486] [info] Accepted new action goal + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030017 ms (missed cycles : 2).[0m + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134010 ms (missed cycles : 2).[0m + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367368 ms (missed cycles : 2).[0m + 21.57sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). + 21.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 21.60sINFOros2_control_node[2026-09-04 11:21:16.825] [info] Received new action goal + 21.60sINFOros2_control_node[2026-09-04 11:21:16.825] [info] Accepted new action goal + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869585 ms (missed cycles : 2).[0m + 22.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×8 + 22.21sINFOros2_control_node[2026-09-04 11:21:17.441] [info] Got request to cancel active goal. + 22.21sINFOros2_control_node[2026-09-04 11:21:17.441] [info] Canceling active goal... + 22.23sERRORobjective_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: 1788520877.45710611 seconds + 22.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 22.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 22.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 22.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" + 22.82sWARNros2_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 ×3 + 22.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788520878.07053280 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752886 ms (missed cycles : 5).[0m + 23.05sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). + 23.07sINFOros2_control_node[2026-09-04 11:21:18.294] [info] Received new action goal + 23.07sINFOros2_control_node[2026-09-04 11:21:18.295] [info] Accepted new action goal + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865024 ms (missed cycles : 3).[0m + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015177 ms (missed cycles : 4).[0m + 25.33sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). + 25.33sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.34sINFOros2_control_node[2026-09-04 11:21:20.565] [info] Received new action goal + 25.34sINFOros2_control_node[2026-09-04 11:21:20.565] [info] Accepted new action goal + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284828 ms (missed cycles : 2).[0m + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123806 ms (missed cycles : 5).[0m + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343139 ms (missed cycles : 3).[0m + 28.90sWARNros2_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 + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002124 ms (missed cycles : 4).[0m + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411130 ms (missed cycles : 2).[0m + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123781 ms (missed cycles : 2).[0m + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381880 ms (missed cycles : 4).[0m + 33.21sERRORobjective_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: 1788520888.44129920 seconds + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340021 ms (missed cycles : 5).[0m + 33.85sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" + 33.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788520889.12967110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 33.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788520889.21979308 seconds + 34.58sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" + 34.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788520889.86697102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 34.83sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 34.83sINFOobjective_server_nodePath shortcutter: [X______X] ×5 + 34.83sINFOros2_control_node[2026-09-04 11:21:30.060] [info] Received new action goal + 34.83sINFOros2_control_node[2026-09-04 11:21:30.060] [info] Accepted new action goal + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.365055 ms (missed cycles : 6).[0m + 35.61sWARNros2_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 ×3 + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206575 ms (missed cycles : 2).[0m + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044454 ms (missed cycles : 4).[0m + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208610 ms (missed cycles : 2).[0m + 38.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 38.18sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 38.47sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). + 38.47sINFOobjective_server_nodePath shortcutter: [X________X] ×7 + 38.48sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). + 38.51sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). + 38.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×4 + 38.62sINFOobjective_server_nodeFound path in 1 iterations (0.00276329 s). + 38.77sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 38.85sINFOros2_control_node[2026-09-04 11:21:34.075] [info] Received new action goal + 38.85sINFOros2_control_node[2026-09-04 11:21:34.076] [info] Accepted new action goal + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960270 ms (missed cycles : 3).[0m + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857842 ms (missed cycles : 3).[0m + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480269 ms (missed cycles : 3).[0m + 41.16sINFOros2_control_node[2026-09-04 11:21:36.389] [info] Received new action goal + 41.16sINFOros2_control_node[2026-09-04 11:21:36.389] [info] Accepted new action goal + 41.70sWARNros2_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 + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533087 ms (missed cycles : 6).[0m + 42.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 42.92sINFOros2_control_node[2026-09-04 11:21:38.150] [info] Received new action goal + 42.92sINFOros2_control_node[2026-09-04 11:21:38.150] [info] Accepted new action goal + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511249 ms (missed cycles : 6).[0m + 44.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788520899.43713546 seconds + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.095700 ms (missed cycles : 6).[0m + 44.74sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" + 44.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788520900.07502508 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 44.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788520900.13514614 seconds + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473610 ms (missed cycles : 3).[0m + 45.50sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" + 45.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788520900.77932954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 45.68sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). + 45.68sINFOobjective_server_nodePath shortcutter: [X_____________X] + 45.70sINFOros2_control_node[2026-09-04 11:21:40.924] [info] Received new action goal + 45.70sINFOros2_control_node[2026-09-04 11:21:40.924] [info] Accepted new action goal + 46.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584708 ms (missed cycles : 2).[0m + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760222 ms (missed cycles : 2).[0m + 48.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898435 ms (missed cycles : 2).[0m + 49.04sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). + 49.05sINFOros2_control_node[2026-09-04 11:21:44.273] [info] Received new action goal + 49.05sINFOros2_control_node[2026-09-04 11:21:44.273] [info] Accepted new action goal + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188285 ms (missed cycles : 2).[0m + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276002 ms (missed cycles : 2).[0m + 51.38sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). + 51.39sINFOros2_control_node[2026-09-04 11:21:46.621] [info] Received new action goal + 51.39sINFOros2_control_node[2026-09-04 11:21:46.621] [info] Accepted new action goal + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217274 ms (missed cycles : 4).[0m + 53.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.153660 ms (missed cycles : 7).[0m + 53.78sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). + 53.79sINFOros2_control_node[2026-09-04 11:21:49.021] [info] Received new action goal + 53.79sINFOros2_control_node[2026-09-04 11:21:49.021] [info] Accepted new action goal + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.782177 ms (missed cycles : 5).[0m + 55.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216248 ms (missed cycles : 2).[0m + 55.71sINFOros2_control_node[2026-09-04 11:21:50.939] [info] Got request to cancel active goal. + 55.71sINFOros2_control_node[2026-09-04 11:21:50.939] [info] Canceling active goal... + 55.72sERRORobjective_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: 1788520910.95214295 seconds + 56.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896774 ms (missed cycles : 2).[0m + 56.30sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" + 56.37sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788520911.59590983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 56.56sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). + 56.57sINFOros2_control_node[2026-09-04 11:21:51.800] [info] Received new action goal + 56.57sINFOros2_control_node[2026-09-04 11:21:51.800] [info] Accepted new action goal + 57.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686818 ms (missed cycles : 2).[0m + 58.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.416449 ms (missed cycles : 9).[0m + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.728665 ms (missed cycles : 5).[0m + 59.82sWARNros2_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 ×3 + 60.13sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). + 60.14sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). + 60.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 60.16sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). + 60.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 60.34sINFOobjective_server_nodeFound path in 1 iterations (0.00285094 s). + 60.49sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 60.52sINFOobjective_server_nodeFound path in 2 iterations (0.00516776 s). + 60.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 60.67sINFOobjective_server_nodeFound path in 1 iterations (0.00471498 s). + 60.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910325 ms (missed cycles : 3).[0m + 60.83sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). + 60.97sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 61.13sINFOros2_control_node[2026-09-04 11:21:56.353] [info] Received new action goal + 61.13sINFOros2_control_node[2026-09-04 11:21:56.353] [info] Accepted new action goal + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742730 ms (missed cycles : 3).[0m + 63.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038605 ms (missed cycles : 2).[0m + 63.39sINFOparameter_manager_nodeRetrieving pose from parameter manager. + 63.66sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 63.66sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server + 63.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788520918.91796803 seconds + 64.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606366 ms (missed cycles : 3).[0m + 65.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612481 ms (missed cycles : 4).[0m + 66.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240927 ms (missed cycles : 2).[0m + 67.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" + 67.25sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788520922.47333908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 67.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145379 ms (missed cycles : 2).[0m + 67.43sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×3 + 67.44sINFOros2_control_node[2026-09-04 11:22:02.667] [info] Received new action goal + 67.44sINFOros2_control_node[2026-09-04 11:22:02.667] [info] Accepted new action goal + 68.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646472 ms (missed cycles : 2).[0m + 69.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329083 ms (missed cycles : 4).[0m + 70.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887370 ms (missed cycles : 2).[0m + 71.04sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 71.07sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 71.16sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). + 71.25sINFOobjective_server_nodeFound path in 1 iterations (0.0028581 s). + 71.44sINFOobjective_server_nodeFound path in 2 iterations (0.005636 s). + 71.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784889 ms (missed cycles : 4).[0m + 71.58sINFOobjective_server_nodeFound path in 1 iterations (0.00320918 s). + 71.73sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). + 72.01sINFOros2_control_node[2026-09-04 11:22:07.240] [info] Received new action goal + 72.01sINFOros2_control_node[2026-09-04 11:22:07.240] [info] Accepted new action goal + 72.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734534 ms (missed cycles : 2).[0m + 73.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776855 ms (missed cycles : 2).[0m + 74.15sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m + 74.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786113 ms (missed cycles : 3).[0m + 74.55sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). + 74.55sINFOobjective_server_nodePath shortcutter: [X_X] + 74.55sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). + 74.56sINFOobjective_server_nodePath shortcutter: [X______________X] + 74.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] + 74.69sINFOobjective_server_nodeFound path in 1 iterations (0.00332257 s). + 74.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] + 74.96sINFOros2_control_node[2026-09-04 11:22:10.189] [info] Received new action goal + 74.96sINFOros2_control_node[2026-09-04 11:22:10.189] [info] Accepted new action goal + 75.36sINFOros2_control_node[2026-09-04 11:22:10.591] [info] Received new action goal + 75.36sINFOros2_control_node[2026-09-04 11:22:10.591] [info] Accepted new action goal + 75.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721691 ms (missed cycles : 3).[0m + 76.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084036 ms (missed cycles : 5).[0m + 77.62sINFOros2_control_nodeGot request to cancel goal[0m ×15 + 77.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×8 + 77.66sERRORobjective_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: 1788520932.88704491 seconds + 77.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942099 ms (missed cycles : 5).[0m + 78.34sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" + 78.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788520933.67833447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 78.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 78.64sINFOros2_control_node[2026-09-04 11:22:13.863] [info] Received new action goal + 78.64sINFOros2_control_node[2026-09-04 11:22:13.863] [info] Accepted new action goal + 78.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833045 ms (missed cycles : 5).[0m + 79.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409576 ms (missed cycles : 4).[0m + 80.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194430 ms (missed cycles : 2).[0m + 81.14sINFOros2_control_node[2026-09-04 11:22:16.369] [info] Received new action goal + 81.14sINFOros2_control_node[2026-09-04 11:22:16.369] [info] Accepted new action goal + 81.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737789 ms (missed cycles : 5).[0m + 83.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.919839 ms (missed cycles : 5).[0m + 84.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947861 ms (missed cycles : 2).[0m + 85.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596047 ms (missed cycles : 3).[0m + 86.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285983 ms (missed cycles : 4).[0m + 87.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843708 ms (missed cycles : 2).[0m + 88.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807179 ms (missed cycles : 2).[0m + 89.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200588 ms (missed cycles : 3).[0m + 89.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788520944.94094038 seconds + 90.33sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" + 90.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788520945.60750341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 90.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234627 ms (missed cycles : 2).[0m + 90.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 90.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 90.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 90.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788520945.67764711 seconds + 90.99sINFOobjective_server_nodeobjective_name: "Look at Table" + 91.04sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788520946.26939130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 91.17sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). + 91.19sINFOros2_control_node[2026-09-04 11:22:26.413] [info] Received new action goal + 91.19sINFOros2_control_node[2026-09-04 11:22:26.413] [info] Accepted new action goal + 91.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877703 ms (missed cycles : 2).[0m + 92.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490148 ms (missed cycles : 3).[0m + 93.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788520948.41954756 seconds + 93.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998770 ms (missed cycles : 2).[0m + 94.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956384 ms (missed cycles : 3).[0m + 94.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" + 94.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788520950.06141758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 94.92sINFOobjective_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 + 94.92sINFOobjective_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 + 95.20sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). + 95.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 95.26sINFOros2_control_node[2026-09-04 11:22:30.484] [info] Received new action goal + 95.26sINFOros2_control_node[2026-09-04 11:22:30.484] [info] Accepted new action goal + 95.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791232 ms (missed cycles : 2).[0m + 96.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 96.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126863 ms (missed cycles : 3).[0m + 97.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599528 ms (missed cycles : 4).[0m + 98.10sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). + 98.12sINFOros2_control_node[2026-09-04 11:22:33.346] [info] Received new action goal + 98.12sINFOros2_control_node[2026-09-04 11:22:33.346] [info] Accepted new action goal + 99.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602925 ms (missed cycles : 6).[0m +100.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139087 ms (missed cycles : 7).[0m +101.40sINFOros2_control_node[2026-09-04 11:22:36.625] [info] Received new action goal +101.40sINFOros2_control_node[2026-09-04 11:22:36.625] [info] Accepted new action goal +101.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787467 ms (missed cycles : 3).[0m +102.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008554 ms (missed cycles : 2).[0m +103.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491577 ms (missed cycles : 3).[0m +104.39sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). +104.45sINFOros2_control_node[2026-09-04 11:22:39.680] [info] Received new action goal +104.45sINFOros2_control_node[2026-09-04 11:22:39.680] [info] Accepted new action goal +104.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776508 ms (missed cycles : 3).[0m +105.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022678 ms (missed cycles : 2).[0m +106.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430806 ms (missed cycles : 3).[0m +107.42sINFOobjective_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 ×5 +107.42sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +107.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×5 +107.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×5 +107.42sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +107.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725202 ms (missed cycles : 2).[0m +108.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 +108.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475904 ms (missed cycles : 4).[0m +110.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240974 ms (missed cycles : 5).[0m +111.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515549 ms (missed cycles : 2).[0m +112.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646927 ms (missed cycles : 2).[0m +113.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293916 ms (missed cycles : 5).[0m +114.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +114.28sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +114.29sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +114.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354528 ms (missed cycles : 3).[0m +115.17sINFOros2_control_node[2026-09-04 11:22:50.395] [info] Received new action goal +115.17sINFOros2_control_node[2026-09-04 11:22:50.395] [info] Accepted new action goal +115.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461934 ms (missed cycles : 4).[0m +116.34sINFOobjective_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 +116.35sINFOobjective_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 +116.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046025 ms (missed cycles : 2).[0m +116.63sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). +116.68sINFOros2_control_node[2026-09-04 11:22:51.908] [info] Received new action goal +116.68sINFOros2_control_node[2026-09-04 11:22:51.908] [info] Accepted new action goal +117.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679706 ms (missed cycles : 2).[0m +118.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393468 ms (missed cycles : 6).[0m +118.87sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). +118.88sINFOobjective_server_nodePath shortcutter: [X__________X] +118.89sINFOros2_control_node[2026-09-04 11:22:54.116] [info] Received new action goal +118.89sINFOros2_control_node[2026-09-04 11:22:54.116] [info] Accepted new action goal +119.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144012 ms (missed cycles : 3).[0m +121.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026337 ms (missed cycles : 5).[0m +122.02sINFOros2_control_node[2026-09-04 11:22:57.246] [info] Received new action goal +122.02sINFOros2_control_node[2026-09-04 11:22:57.246] [info] Accepted new action goal +122.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.993558 ms (missed cycles : 6).[0m +123.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098904 ms (missed cycles : 2).[0m +124.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830261 ms (missed cycles : 2).[0m +124.67sINFOros2_control_node[2026-09-04 11:22:59.892] [info] Received new action goal +124.67sINFOros2_control_node[2026-09-04 11:22:59.892] [info] Accepted new action goal +125.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982995 ms (missed cycles : 4).[0m +126.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548013 ms (missed cycles : 6).[0m +127.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208497 ms (missed cycles : 3).[0m +128.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388113 ms (missed cycles : 2).[0m +129.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.526353 ms (missed cycles : 6).[0m +130.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073209 ms (missed cycles : 2).[0m +131.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840662 ms (missed cycles : 2).[0m +133.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834968 ms (missed cycles : 2).[0m +134.15sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m +134.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805549 ms (missed cycles : 2).[0m +135.32sINFOros2_control_node[2026-09-04 11:23:10.545] [info] Received new action goal +135.32sINFOros2_control_node[2026-09-04 11:23:10.545] [info] Accepted new action goal +135.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522316 ms (missed cycles : 2).[0m +136.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437544 ms (missed cycles : 2).[0m +136.47sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788520991.70161343 seconds +137.08sINFOobjective_server_nodeobjective_name: "Push Button" +137.27sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788520992.49929118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +137.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.874997 ms (missed cycles : 5).[0m +138.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091556 ms (missed cycles : 2).[0m +138.54sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). +138.56sINFOobjective_server_nodePath shortcutter: [X__________________________X] +138.57sINFOros2_control_node[2026-09-04 11:23:13.794] [info] Received new action goal +138.57sINFOros2_control_node[2026-09-04 11:23:13.794] [info] Accepted new action goal +139.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043027 ms (missed cycles : 5).[0m +140.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294669 ms (missed cycles : 4).[0m +141.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646409 ms (missed cycles : 2).[0m +142.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m +143.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128219 ms (missed cycles : 4).[0m +144.66sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). +144.68sINFOobjective_server_nodePath shortcutter: [X________________________X] +144.69sINFOros2_control_node[2026-09-04 11:23:19.914] [info] Received new action goal +144.69sINFOros2_control_node[2026-09-04 11:23:19.914] [info] Accepted new action goal +144.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317552 ms (missed cycles : 2).[0m +145.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m +145.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250539 ms (missed cycles : 2).[0m +147.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837878 ms (missed cycles : 2).[0m +148.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144029 ms (missed cycles : 2).[0m +148.29sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788521003.51945257 seconds +148.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" +148.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521004.12777448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +149.06sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). +149.06sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +149.07sINFOros2_control_node[2026-09-04 11:23:24.301] [info] Received new action goal +149.07sINFOros2_control_node[2026-09-04 11:23:24.301] [info] Accepted new action goal +149.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958949 ms (missed cycles : 2).[0m +150.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043321 ms (missed cycles : 4).[0m +150.34sINFOobjective_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 ×2 +150.35sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +150.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 +151.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772231 ms (missed cycles : 2).[0m +152.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811250 ms (missed cycles : 4).[0m +152.59sINFOros2_control_nodeReceived new action goal[0m ×4970 +152.59sINFOros2_control_nodeAccepted new action goal[0m ×4970 +153.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762638 ms (missed cycles : 2).[0m +154.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977904 ms (missed cycles : 2).[0m +155.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011308 ms (missed cycles : 2).[0m +156.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740458 ms (missed cycles : 2).[0m +156.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 +157.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850897 ms (missed cycles : 2).[0m +157.42sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +158.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857429 ms (missed cycles : 2).[0m +159.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060904 ms (missed cycles : 2).[0m +160.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771259 ms (missed cycles : 2).[0m +161.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955338 ms (missed cycles : 2).[0m +162.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328421 ms (missed cycles : 2).[0m +163.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694019 ms (missed cycles : 2).[0m +164.01sWARNros2_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 +164.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880922 ms (missed cycles : 2).[0m +165.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743995 ms (missed cycles : 2).[0m +166.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480799 ms (missed cycles : 3).[0m +167.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286517 ms (missed cycles : 2).[0m +168.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.550596 ms (missed cycles : 6).[0m +169.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.170953 ms (missed cycles : 8).[0m +170.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211166 ms (missed cycles : 2).[0m +171.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 +172.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135514 ms (missed cycles : 2).[0m +173.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361453 ms (missed cycles : 2).[0m +174.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894473 ms (missed cycles : 3).[0m +175.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999057 ms (missed cycles : 2).[0m +176.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723739 ms (missed cycles : 2).[0m +177.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058367 ms (missed cycles : 5).[0m +178.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496173 ms (missed cycles : 2).[0m +179.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406418 ms (missed cycles : 2).[0m +180.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042380 ms (missed cycles : 2).[0m +181.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078821 ms (missed cycles : 2).[0m +182.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172000 ms (missed cycles : 4).[0m +183.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242319 ms (missed cycles : 2).[0m +184.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609417 ms (missed cycles : 3).[0m +185.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929364 ms (missed cycles : 4).[0m +186.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157480 ms (missed cycles : 2).[0m +187.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462909 ms (missed cycles : 2).[0m +188.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113528 ms (missed cycles : 2).[0m +189.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.048750 ms (missed cycles : 5).[0m +190.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794154 ms (missed cycles : 2).[0m +191.07sWARNros2_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 ×3 +191.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.696164 ms (missed cycles : 7).[0m +192.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521047.95639348 seconds +192.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623306 ms (missed cycles : 3).[0m +193.27sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" +193.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788521048.58844829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +193.53sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +193.54sINFOros2_control_node[2026-09-04 11:24:08.762] [info] Received new action goal +193.54sINFOros2_control_node[2026-09-04 11:24:08.762] [info] Accepted new action goal +193.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625384 ms (missed cycles : 2).[0m +194.16sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +194.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153449 ms (missed cycles : 4).[0m +195.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779216 ms (missed cycles : 2).[0m +196.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427453 ms (missed cycles : 3).[0m +197.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470359 ms (missed cycles : 2).[0m +199.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479278 ms (missed cycles : 2).[0m +200.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721026 ms (missed cycles : 2).[0m +201.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240905 ms (missed cycles : 2).[0m +202.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297957 ms (missed cycles : 2).[0m +203.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926044 ms (missed cycles : 2).[0m +204.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969119 ms (missed cycles : 2).[0m +205.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966161 ms (missed cycles : 2).[0m +206.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122121 ms (missed cycles : 2).[0m +207.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109209 ms (missed cycles : 2).[0m +208.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999072 ms (missed cycles : 2).[0m +209.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722207 ms (missed cycles : 2).[0m +210.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159077 ms (missed cycles : 2).[0m +211.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739521 ms (missed cycles : 5).[0m +212.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506337 ms (missed cycles : 3).[0m +213.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362487 ms (missed cycles : 2).[0m +214.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863944 ms (missed cycles : 2).[0m +214.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788521070.08649731 seconds +215.47sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" +215.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788521070.78549862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +215.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190956 ms (missed cycles : 2).[0m +215.76sINFOros2_control_node[2026-09-04 11:24:30.989] [info] Received new action goal +215.76sINFOros2_control_node[2026-09-04 11:24:30.989] [info] Accepted new action goal +216.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975374 ms (missed cycles : 2).[0m +217.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134428 ms (missed cycles : 2).[0m +218.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188596 ms (missed cycles : 2).[0m +219.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759774 ms (missed cycles : 2).[0m +220.45sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). +220.47sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). +220.50sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). +220.64sINFOobjective_server_nodeFound path in 1 iterations (0.00442952 s). +220.93sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +220.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249463 ms (missed cycles : 4).[0m +220.95sINFOros2_control_node[2026-09-04 11:24:36.178] [info] Received new action goal +220.95sINFOros2_control_node[2026-09-04 11:24:36.178] [info] Accepted new action goal +222.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130186 ms (missed cycles : 2).[0m +223.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002951 ms (missed cycles : 2).[0m +223.25sINFOros2_control_node[2026-09-04 11:24:38.480] [info] Received new action goal +223.25sINFOros2_control_node[2026-09-04 11:24:38.480] [info] Accepted new action goal +224.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587298 ms (missed cycles : 3).[0m +224.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 +225.01sINFOros2_control_node[2026-09-04 11:24:40.239] [info] Received new action goal +225.01sINFOros2_control_node[2026-09-04 11:24:40.239] [info] Accepted new action goal +225.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414223 ms (missed cycles : 4).[0m +225.62sINFOros2_control_node[2026-09-04 11:24:40.845] [info] Got request to cancel active goal. +225.62sINFOros2_control_node[2026-09-04 11:24:40.845] [info] Canceling active goal... +225.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521080.86059451 seconds +226.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959916 ms (missed cycles : 6).[0m +226.21sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" +226.30sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788521081.52345920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +226.48sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). +226.49sINFOros2_control_node[2026-09-04 11:24:41.717] [info] Received new action goal +226.49sINFOros2_control_node[2026-09-04 11:24:41.717] [info] Accepted new action goal +227.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518925 ms (missed cycles : 3).[0m +228.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695166 ms (missed cycles : 5).[0m +228.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +229.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735413 ms (missed cycles : 2).[0m +230.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879147 ms (missed cycles : 3).[0m +231.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451356 ms (missed cycles : 3).[0m +232.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883435 ms (missed cycles : 2).[0m +233.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465053 ms (missed cycles : 4).[0m +234.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145509 ms (missed cycles : 5).[0m +235.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m +235.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222798 ms (missed cycles : 3).[0m +236.62sERRORobjective_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: 1788521091.84811854 seconds +236.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.214284 ms (missed cycles : 5).[0m +237.16sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" +237.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788521092.44330621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +237.51sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). +237.53sINFOros2_control_node[2026-09-04 11:24:52.754] [info] Received new action goal +237.53sINFOros2_control_node[2026-09-04 11:24:52.754] [info] Accepted new action goal +238.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205564 ms (missed cycles : 2).[0m +239.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658822 ms (missed cycles : 3).[0m +240.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780763 ms (missed cycles : 2).[0m +240.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 +241.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258735 ms (missed cycles : 5).[0m +241.53sINFOros2_control_node[2026-09-04 11:24:56.761] [info] Received new action goal +241.53sINFOros2_control_node[2026-09-04 11:24:56.761] [info] Accepted new action goal +242.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487014 ms (missed cycles : 3).[0m +243.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398579 ms (missed cycles : 3).[0m +244.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149932 ms (missed cycles : 2).[0m +245.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586350 ms (missed cycles : 5).[0m +245.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m +246.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589523 ms (missed cycles : 3).[0m +247.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788521102.34672189 seconds +247.71sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" +247.78sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788521103.00371146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +247.89sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). +247.91sINFOros2_control_node[2026-09-04 11:25:03.137] [info] Received new action goal +247.91sINFOros2_control_node[2026-09-04 11:25:03.138] [info] Accepted new action goal +247.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343213 ms (missed cycles : 3).[0m +249.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.177007 ms (missed cycles : 7).[0m +250.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053526 ms (missed cycles : 2).[0m +251.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898755 ms (missed cycles : 2).[0m +252.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661078 ms (missed cycles : 2).[0m +253.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909880 ms (missed cycles : 5).[0m +254.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543419 ms (missed cycles : 2).[0m +255.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080432 ms (missed cycles : 2).[0m +256.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339185 ms (missed cycles : 4).[0m +257.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.124308 ms (missed cycles : 5).[0m +258.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788521113.34398413 seconds +258.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929373 ms (missed cycles : 2).[0m +258.66sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" +258.71sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? +258.71sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo +258.71sINFOobjective_server_nodeThere were other errors that might be related to this failure: +259.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" +259.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788521114.70328736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +259.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788521114.76342607 seconds +259.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479647 ms (missed cycles : 3).[0m +260.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" +260.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788521115.36169600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +260.16sINFOobjective_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 '' +260.16sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788521115.38391423 seconds +260.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" +260.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788521116.09971356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +260.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953559 ms (missed cycles : 6).[0m +260.99sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). +261.01sINFOros2_control_node[2026-09-04 11:25:16.234] [info] Received new action goal +261.01sINFOros2_control_node[2026-09-04 11:25:16.234] [info] Accepted new action goal +262.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704876 ms (missed cycles : 2).[0m +263.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671755 ms (missed cycles : 6).[0m +264.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100015 ms (missed cycles : 4).[0m +264.32sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +264.33sINFOros2_control_node[2026-09-04 11:25:19.553] [info] Received new action goal +264.33sINFOros2_control_node[2026-09-04 11:25:19.553] [info] Accepted new action goal +264.33sINFOros2_control_node[2026-09-04 11:25:19.553] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +265.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.866482 ms (missed cycles : 6).[0m +266.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113010 ms (missed cycles : 3).[0m +267.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595325 ms (missed cycles : 6).[0m +268.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817937 ms (missed cycles : 2).[0m +269.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944535 ms (missed cycles : 2).[0m +270.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150053 ms (missed cycles : 5).[0m +271.11sINFOros2_control_node[2026-09-04 11:25:26.339] [info] Got request to cancel active goal. +271.11sINFOros2_control_node[2026-09-04 11:25:26.339] [info] Canceling active goal... +271.12sERRORobjective_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: 1788521126.34444475 seconds +271.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999796 ms (missed cycles : 2).[0m +271.69sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" +271.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788521126.97423172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +272.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191330 ms (missed cycles : 2).[0m +273.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788521128.29760742 seconds +273.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" +273.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703502 ms (missed cycles : 2).[0m +273.68sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788521128.90333652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +273.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +273.68sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +273.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +273.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788521128.90619373 seconds +274.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" +274.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788521129.50799489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +274.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788521129.50851059 seconds +274.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118907 ms (missed cycles : 5).[0m +274.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +274.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788521130.11122370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +275.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907962 ms (missed cycles : 5).[0m +276.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788521131.37135792 seconds +276.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +276.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830424 ms (missed cycles : 2).[0m +277.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054847 ms (missed cycles : 5).[0m +279.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843199 ms (missed cycles : 2).[0m +280.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523293 ms (missed cycles : 3).[0m +281.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752611 ms (missed cycles : 2).[0m +281.63sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.63sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.63sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.63sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.64sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +281.65sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +281.65sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +281.65sERRORweb_video_auth_proxy-23process has died [pid 7506, 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']. +281.65sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +281.65sERRORweb_bridge_auth_proxy-22process has died [pid 7505, 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']. +281.65sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +281.66sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +281.66sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +281.67sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +281.67sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +281.68sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +281.68sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +281.68sINFOvideo_server-21process has finished cleanly [pid 7502] +281.69sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +281.69sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +281.70sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +281.70sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +281.70sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +281.71sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +281.71sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +281.71sINFOvideo_server2026/09/04 11:25:36 INF shutting down gracefully +281.71sINFOvideo_server2026/09/04 11:25:36 INF [WebRTC] closing +281.71sINFOvideo_server2026/09/04 11:25:36 INF [RTSP] closing +281.71sINFOvideo_server2026/09/04 11:25:36 INF waiting for running hooks +281.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +281.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +281.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +281.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid +281.71sERRORmove_groupStack trace (most recent call last) in thread 7863: +281.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +281.72sINFOros2_control_nodeShutdown request received....[0m +281.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +281.72sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +281.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +281.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +281.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +281.72sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +281.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +281.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +281.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +281.72sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +281.72sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +281.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +281.72sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7ac54cfa63, in __clone +281.72sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7ac5442aa3, in +281.72sWARNparameter_manager_nodeROS node was shutdown. +281.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +281.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +281.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +281.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +281.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +281.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +281.72sINFOros2_control_nodeShutting down the controller manager.[0m +281.72sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7ac56d4db3, in +281.72sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +281.72sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 +281.72sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f7ac5e39a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +281.72sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7ac5a66620, in rclcpp::Rate::sleep() +281.72sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7ac59a8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +281.72sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7ac596a087, in +281.72sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7ac56a3390, in __cxa_throw +281.72sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7ac568da54, in std::terminate() +281.72sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7ac56a30d9, in +281.72sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7ac568dff4, in +281.72sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7ac53ce8fe, in abort +281.72sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7ac53eb27d, in raise +281.72sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7ac5444b2c, in pthread_kill +281.72sERRORmove_groupAborted (Signal sent by tkill() 7435 0) +281.73sERRORmove_group-9process has died [pid 7435, 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_sn8yld9p --params-file /tmp/launch_params_h91dvzek --params-file /tmp/launch_params_q6zsw3hg --params-file /tmp/launch_params_k4xhsgwt --params-file /tmp/launch_params_mf9y9a0q --params-file /tmp/launch_params_zmzwy4jf']. +281.92sINFOros2_control_nodeAsync messages lost 0[0m ×2 +281.92sINFOros2_control_nodepublish_async_failures_ 2[0m +281.93sINFOros2_control_nodepublish_async_failures_ 1[0m +282.71sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7501] +282.71sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +282.73sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7439] +282.74sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7438] +282.77sINFOwaypoint_manager_node-11process has finished cleanly [pid 7437] +282.78sINFOcomponent_container_mt-16process has finished cleanly [pid 7442] +282.78sINFOexecute_objective_bridge-17process has finished cleanly [pid 7443] +282.79sINFOui_teleop_bridge-18process has finished cleanly [pid 7444] +282.79sINFOparameter_manager_node-10process has finished cleanly [pid 7436] +282.86sINFOobjective_server_node[0;m[2026-09-04 11:25:38.091] [moveit_pro_license] [info] +282.86sINFOobjective_server_node* Application has successfully terminated +282.99sINFOobjective_server_node_main-14process has finished cleanly [pid 7440] +282.99sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +283.87sINFOcomponent_container_mt-15process has finished cleanly [pid 7441] +283.95sINFOweb_bridge-19process has finished cleanly [pid 7445] +283.95sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +284.36sINFOros2_control_node-1process has finished cleanly [pid 7386] +287.77sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-11-25-42-607178-e274dd432c22-8625 ×2 +288.42sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +288.43sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +288.43sINFOcontroller_managerupdate rate is 600 Hz +288.43sINFOcontroller_managerOverruns handling is : enabled +288.43sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +288.43sWARNcontroller_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. +288.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289769 ms (missed cycles : 2). +288.62sINFOros2_control_node-1process started with pid [8673] ×2 +288.62sINFOmove_group-9process started with pid [8710] ×2 +288.62sINFOparameter_manager_node-10process started with pid [8711] ×2 +288.62sINFOwaypoint_manager_node-11process started with pid [8712] ×2 +288.62sINFOmove_joint_resampler_node-12process started with pid [8713] ×2 +288.62sINFOmove_end_effector_resampler_node-13process started with pid [8714] ×2 +288.62sINFOobjective_server_node_main-14process started with pid [8715] ×2 +288.63sINFOcomponent_container_mt-15process started with pid [8716] ×2 +288.63sINFOcomponent_container_mt-16process started with pid [8717] ×2 +288.63sINFOexecute_objective_bridge-17process started with pid [8718] ×2 +288.63sINFOui_teleop_bridge-18process started with pid [8719] ×2 +288.63sINFOweb_bridge-19process started with pid [8720] ×2 +288.63sINFOtf2_web_republisher_node-20process started with pid [8798] ×2 +288.63sINFOvideo_server-21process started with pid [8799] ×2 +288.63sINFOweb_bridge_auth_proxy-22process started with pid [8800] ×2 +288.63sINFOweb_video_auth_proxy-23process started with pid [8801] ×2 +288.63sINFOros2-2process started with pid [8674] ×2 +288.63sINFOros2-3process started with pid [8675] ×2 +288.63sINFOros2-4process started with pid [8676] ×2 +288.63sINFOros2-5process started with pid [8677] ×2 +288.63sINFOros2-6process started with pid [8678] ×2 +288.63sINFOros2-7process started with pid [8679] ×2 +288.63sINFOros2-8process started with pid [8680] ×2 +288.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289769 ms (missed cycles : 2).[0m ×2 +288.68sINFOcontroller_managerReceived robot description from topic. +288.68sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +288.70sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +289.08sINFOvideo_server2026/09/04 11:25:44 INF MediaMTX v1.20.1, linux, amd64 ×2 +289.08sINFOvideo_server2026/09/04 11:25:44 INF configuration loaded from /tmp/moveit-webrtc-t73z8np_/mediamtx.yml ×2 +289.08sINFOvideo_server2026/09/04 11:25:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +289.08sINFOvideo_server2026/09/04 11:25:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +289.33sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +289.58sINFOmove_group[2026-09-04 11:25:44.804] [moveit_pro_license] [info] ×2 +289.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +289.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +290.04sINFOwaypoint_manager_node[2026-09-04 11:25:45.272] [moveit_pro_license] [info] ×2 +290.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015912 ms (missed cycles : 2). +290.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015912 ms (missed cycles : 2).[0m ×2 +291.80sINFOobjective_server_node[2026-09-04 11:25:47.022] [moveit_pro_license] [info] ×2 +291.80sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +291.80sINFOcontroller_managerActivating component 'ur_mujoco_control'. +291.80sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +291.80sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +291.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919332 ms (missed cycles : 2). +291.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919332 ms (missed cycles : 2).[0m ×2 +291.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +291.85sINFOcontroller_managerLoading controller 'velocity_force_controller' +291.97sINFOcomponent_container_mt[2026-09-04 11:25:47.202] [moveit_pro_license] [info] ×2 +291.98sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +291.98sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +291.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +292.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +292.03sINFOros2_control_node[2026-09-04 11:25:47.255] [info] Controller state will be published at 10 Hz. ×2 +292.03sINFOros2_control_node[2026-09-04 11:25:47.256] [info] VelocityForceController 'on_configure' succeeded. ×2 +292.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +292.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +292.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +292.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +292.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +292.34sINFOros2-7process has finished cleanly [pid 8679] ×2 +292.34sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +292.34sINFOforce_torque_sensor_broadcasterconfigure successful +292.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +292.35sINFOcontroller_managerSuccessfully switched controllers! ×16 +292.35sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +292.46sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +292.61sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +292.61sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +292.66sINFOros2-2process has finished cleanly [pid 8674] ×2 +292.69sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +292.69sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +292.72sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +292.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +292.73sINFOros2_control_node[2026-09-04 11:25:47.955] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +292.73sINFOros2_control_node[2026-09-04 11:25:47.955] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +292.75sINFOros2_control_node[2026-09-04 11:25:47.980] [info] First order lag filter time constant set to: 0.2 seconds ×2 +292.75sINFOros2_control_node[2026-09-04 11:25:47.980] [info] Controller state will be published at 50 Hz. ×2 +292.76sINFOros2_control_node[2026-09-04 11:25:47.986] [info] Registered `FollowJointTrajectory` action server. ×2 +292.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075954 ms (missed cycles : 3). +292.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075954 ms (missed cycles : 3).[0m ×2 +293.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +293.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +293.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +293.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +293.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +293.11sINFOros2-6process has finished cleanly [pid 8678] ×2 +293.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +293.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +293.12sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +293.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +293.43sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +293.43sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +293.43sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +293.43sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +293.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +293.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +293.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +293.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +293.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +293.47sINFOros2-4process has finished cleanly [pid 8676] ×2 +293.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +293.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +293.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +293.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +293.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +293.84sINFOros2-3process has finished cleanly [pid 8675] ×2 +293.85sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +293.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +293.85sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +293.85sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +293.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +293.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +293.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +293.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +293.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +294.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4). +294.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4).[0m ×2 +294.16sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +294.16sINFOcontroller_managerLoading controller 'joint_velocity_controller' +294.18sINFOros2-5process has finished cleanly [pid 8677] ×2 +294.23sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi +294.23sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 +294.26sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +294.27sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +294.29sINFOros2_control_node[2026-09-04 11:25:49.520] [info] Controller state will be published at 20 Hz. ×2 +294.29sINFOros2_control_node[2026-09-04 11:25:49.521] [info] JointVelocityController 'on_configure' succeeded. ×2 +294.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +294.32sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +294.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 +294.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +294.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +294.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 +294.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +294.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 +294.66sINFOros2-8process has finished cleanly [pid 8680] ×2 +294.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+294.95sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 +294.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +294.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 +295.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). +295.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 +295.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+295.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +295.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +296.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). +296.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 +296.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 +297.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). +297.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 +297.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+297.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +297.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 +297.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+297.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +298.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 +298.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). +298.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 +298.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+298.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +298.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 41 warnings · 371 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.74sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.25sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 44 warnings · 414 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.34sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 151 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-11-25-42-607178-e274dd432c22-8625 ×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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289769 ms (missed cycles : 2). + 0.86sINFOros2_control_node-1process started with pid [8673] ×2 + 0.86sINFOmove_group-9process started with pid [8710] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [8711] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [8712] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [8713] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [8714] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [8715] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [8716] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [8717] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [8718] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [8719] ×2 + 0.86sINFOweb_bridge-19process started with pid [8720] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [8798] ×2 + 0.86sINFOvideo_server-21process started with pid [8799] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [8800] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [8801] ×2 + 0.86sINFOros2-2process started with pid [8674] ×2 + 0.86sINFOros2-3process started with pid [8675] ×2 + 0.86sINFOros2-4process started with pid [8676] ×2 + 0.86sINFOros2-5process started with pid [8677] ×2 + 0.86sINFOros2-6process started with pid [8678] ×2 + 0.86sINFOros2-7process started with pid [8679] ×2 + 0.86sINFOros2-8process started with pid [8680] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289769 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.31sINFOvideo_server2026/09/04 11:25:44 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.31sINFOvideo_server2026/09/04 11:25:44 INF configuration loaded from /tmp/moveit-webrtc-t73z8np_/mediamtx.yml ×2 + 1.32sINFOvideo_server2026/09/04 11:25:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.32sINFOvideo_server2026/09/04 11:25:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.56sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.81sINFOmove_group[2026-09-04 11:25:44.804] [moveit_pro_license] [info] ×2 + 1.81sINFOmove_group************************************************* ×4 + 1.81sINFOmove_group* MoveIt Pro License ×2 + 1.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.03sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.12sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.12sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.12sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.14sINFOros2_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 + 2.14sINFOros2_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 + 2.20sINFOmove_group ×4 + 2.20sINFOmove_group[92mYou can start planning now![0m ×2 + 2.28sINFOwaypoint_manager_node[2026-09-04 11:25:45.272] [moveit_pro_license] [info] ×2 + 2.28sINFOwaypoint_manager_node************************************************* ×4 + 2.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015912 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015912 ms (missed cycles : 2).[0m ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 46 warnings · 464 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOros2-5process has finished cleanly [pid 8677] ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.520] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.521] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOros2-8process has finished cleanly [pid 8680] ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.80sINFOobjective_server_nodecaller: ×14 + 0.80sINFOobjective_server_nodetype: 0 ×14 + 0.80sINFOobjective_server_nodename: "" ×14 + 0.80sINFOobjective_server_nodeinstance_id: "" ×14 + 0.80sINFOobjective_server_node ×14 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_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 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 46 warnings · 464 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOros2-5process has finished cleanly [pid 8677] ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.520] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.521] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOros2-8process has finished cleanly [pid 8680] ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.80sINFOobjective_server_nodecaller: ×14 + 0.80sINFOobjective_server_nodetype: 0 ×14 + 0.80sINFOobjective_server_nodename: "" ×14 + 0.80sINFOobjective_server_nodeinstance_id: "" ×14 + 0.80sINFOobjective_server_node ×14 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_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 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 46 warnings · 464 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992590 ms (missed cycles : 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.08sINFOros2-5process has finished cleanly [pid 8677] ×2 + 0.09sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_va5vvpcx --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kx5g5m_w --params-file /tmp/launch_params_tru6zloi [0m ×2 + 0.16sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.520] [info] Controller state will be published at 20 Hz. ×2 + 0.19sINFOros2_control_node[2026-09-04 11:25:49.521] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOros2-8process has finished cleanly [pid 8680] ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.80sINFOobjective_server_nodecaller: ×14 + 0.80sINFOobjective_server_nodetype: 0 ×14 + 0.80sINFOobjective_server_nodename: "" ×14 + 0.80sINFOobjective_server_nodeinstance_id: "" ×14 + 0.80sINFOobjective_server_node ×14 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_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 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 44 warnings · 409 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788521150.18465161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788521150.19490671 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605985 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.34sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 38 warnings · 360 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788521150.78059292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.74sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 41 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055627 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055627 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 38 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430229 ms (missed cycles : 2).[0m ×2 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788521151.89081407 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.121252 ms (missed cycles : 7).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.06sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×5 + 1.10sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 22: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 38: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788521152.49891925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788521152.55912995 seconds ×3 + 1.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788521153.21936679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788521153.23949170 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520592 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788521153.83542085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788521153.98601270 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248465 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788521154.69661164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.33sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.33sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788521154.73676205 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788521155.33816457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_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 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.4432e-05 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-04 11:25:55.475] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.839097 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241737 ms (missed cycles : 5).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333019 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-04 11:25:57.982] [info] Accepted new action goal ×2 | ||||