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 · 35 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.84sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.84sERRORobjective_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? ×2 + 2.84sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.84sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 3.75sWARNros2_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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[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 | 170 warnings · 19466 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790601 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531036 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531036 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953139 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953139 ms (missed cycles : 5).[0m ×2 + 2.79sWARNros2_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 + 2.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788526245.82510662 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874990 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874990 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.40sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788526246.43169832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.58sINFOros2_control_node[2026-09-04 12:50:46.599] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-04 12:50:46.599] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034081 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034081 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773868 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773868 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833563 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833563 ms (missed cycles : 2).[0m ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×3199 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×3199 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×6398 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×6398 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347350 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347350 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145025 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145025 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683073 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683073 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102021 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102021 ms (missed cycles : 2).[0m ×2 + 10.82sWARNros2_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 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205052 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205052 ms (missed cycles : 2).[0m ×2 + 11.91sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.91sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.91sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.91sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179098 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179098 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.735841 ms (missed cycles : 6). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.735841 ms (missed cycles : 6).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721798 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721798 ms (missed cycles : 2).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735391 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735391 ms (missed cycles : 2).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720095 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720095 ms (missed cycles : 2).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474619 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474619 ms (missed cycles : 2).[0m ×2 + 18.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516395 ms (missed cycles : 2). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516395 ms (missed cycles : 2).[0m ×2 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629222 ms (missed cycles : 3). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629222 ms (missed cycles : 3).[0m ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809675 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809675 ms (missed cycles : 2).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949705 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949705 ms (missed cycles : 3).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755952 ms (missed cycles : 5). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755952 ms (missed cycles : 5).[0m ×2 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732662 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732662 ms (missed cycles : 2).[0m ×2 + 24.99sWARNros2_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 ×4 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895834 ms (missed cycles : 3). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895834 ms (missed cycles : 3).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691656 ms (missed cycles : 2). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691656 ms (missed cycles : 2).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923138 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923138 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795877 ms (missed cycles : 2). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795877 ms (missed cycles : 2).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698536 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698536 ms (missed cycles : 2).[0m ×2 + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007021 ms (missed cycles : 4). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007021 ms (missed cycles : 4).[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828980 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828980 ms (missed cycles : 2).[0m ×2 + 31.98sWARNros2_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 + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520418 ms (missed cycles : 3). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520418 ms (missed cycles : 3).[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143751 ms (missed cycles : 2). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143751 ms (missed cycles : 2).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847818 ms (missed cycles : 2). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847818 ms (missed cycles : 2).[0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734206 ms (missed cycles : 2). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734206 ms (missed cycles : 2).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796122 ms (missed cycles : 2). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796122 ms (missed cycles : 2).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554682 ms (missed cycles : 3). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554682 ms (missed cycles : 3).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735040 ms (missed cycles : 3). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735040 ms (missed cycles : 3).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773487 ms (missed cycles : 2). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773487 ms (missed cycles : 2).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159141 ms (missed cycles : 2). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159141 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464933 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464933 ms (missed cycles : 2).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821937 ms (missed cycles : 3). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821937 ms (missed cycles : 3).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.862590 ms (missed cycles : 6). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.862590 ms (missed cycles : 6).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378891 ms (missed cycles : 3). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378891 ms (missed cycles : 3).[0m ×2 + 45.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687662 ms (missed cycles : 2). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687662 ms (missed cycles : 2).[0m ×2 + 46.19sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755723 ms (missed cycles : 2). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755723 ms (missed cycles : 2).[0m ×2 + 47.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526290.23057723 seconds ×3 + 47.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.75sINFOobjective_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: ""
+ 47.75sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788526290.86799359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.90sINFOobjective_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 + 47.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 48.01sINFOros2_control_node[2026-09-04 12:51:31.027] [info] Received new action goal ×2 + 48.01sINFOros2_control_node[2026-09-04 12:51:31.027] [info] Accepted new action goal ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326834 ms (missed cycles : 2). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326834 ms (missed cycles : 2).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358350 ms (missed cycles : 3). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358350 ms (missed cycles : 3).[0m ×2 + 50.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788849 ms (missed cycles : 2). + 50.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788849 ms (missed cycles : 2).[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461205 ms (missed cycles : 2). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461205 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 157 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.22sINFOobjective_server_nodecaller: ×4 + 2.22sINFOobjective_server_nodetype: 0 ×4 + 2.22sINFOobjective_server_nodename: "" ×4 + 2.22sINFOobjective_server_nodeinstance_id: "" ×4 + 2.22sINFOobjective_server_node ×4 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 + 6.31sWARNros2_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 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251553 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251553 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453959 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453959 ms (missed cycles : 5).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040097 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040097 ms (missed cycles : 2).[0m ×2 + 8.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 8.86sINFOros2_control_node[2026-09-04 12:49:59.179] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-09-04 12:49:59.179] [info] Accepted new action goal ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876657 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876657 ms (missed cycles : 3).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772251 ms (missed cycles : 5). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772251 ms (missed cycles : 5).[0m ×2 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 11.84sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 11.89sINFOros2_control_node[2026-09-04 12:50:02.211] [info] Received new action goal ×2 + 11.89sINFOros2_control_node[2026-09-04 12:50:02.211] [info] Accepted new action goal ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627789 ms (missed cycles : 5). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627789 ms (missed cycles : 5).[0m ×2 + 12.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291593 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291593 ms (missed cycles : 2).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304781 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304781 ms (missed cycles : 3).[0m ×2 + 14.85sINFOobjective_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 + 14.86sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 14.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 14.86sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 14.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 14.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 14.86sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 14.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 14.86sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912162 ms (missed cycles : 5). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912162 ms (missed cycles : 5).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764745 ms (missed cycles : 6). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764745 ms (missed cycles : 6).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003639 ms (missed cycles : 5). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003639 ms (missed cycles : 5).[0m ×2 + 18.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685546 ms (missed cycles : 5). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685546 ms (missed cycles : 5).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808006 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808006 ms (missed cycles : 3).[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119979 ms (missed cycles : 5). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119979 ms (missed cycles : 5).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736613 ms (missed cycles : 3). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736613 ms (missed cycles : 3).[0m ×2 + 21.60sINFOobjective_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 + 21.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 21.61sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 21.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 21.61sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 21.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 21.61sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 21.61sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 21.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.49sINFOros2_control_node[2026-09-04 12:50:12.806] [info] Received new action goal ×2 + 22.49sINFOros2_control_node[2026-09-04 12:50:12.806] [info] Accepted new action goal ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804102 ms (missed cycles : 2). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804102 ms (missed cycles : 2).[0m ×2 + 23.65sINFOobjective_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 + 23.66sINFOobjective_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 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596509 ms (missed cycles : 5). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596509 ms (missed cycles : 5).[0m ×2 + 23.94sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 23.95sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 23.99sINFOros2_control_node[2026-09-04 12:50:14.310] [info] Received new action goal ×2 + 23.99sINFOros2_control_node[2026-09-04 12:50:14.310] [info] Accepted new action goal ×2 + 24.49sWARNros2_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 + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475518 ms (missed cycles : 3).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903398 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903398 ms (missed cycles : 5).[0m ×2 + 26.12sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 26.13sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 26.14sINFOros2_control_node[2026-09-04 12:50:16.457] [info] Received new action goal ×2 + 26.14sINFOros2_control_node[2026-09-04 12:50:16.457] [info] Accepted new action goal ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241379 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241379 ms (missed cycles : 2).[0m ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644654 ms (missed cycles : 2). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644654 ms (missed cycles : 2).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659397 ms (missed cycles : 5). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659397 ms (missed cycles : 5).[0m ×2 + 29.28sINFOros2_control_node[2026-09-04 12:50:19.597] [info] Received new action goal ×2 + 29.28sINFOros2_control_node[2026-09-04 12:50:19.597] [info] Accepted new action goal ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719197 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719197 ms (missed cycles : 2).[0m ×2 + 31.31sWARNros2_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 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203148 ms (missed cycles : 4). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203148 ms (missed cycles : 4).[0m ×2 + 31.87sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 31.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 31.92sINFOros2_control_node[2026-09-04 12:50:22.242] [info] Received new action goal ×2 + 31.92sINFOros2_control_node[2026-09-04 12:50:22.242] [info] Accepted new action goal ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.016237 ms (missed cycles : 7). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.016237 ms (missed cycles : 7).[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593419 ms (missed cycles : 2). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593419 ms (missed cycles : 2).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006379 ms (missed cycles : 3). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006379 ms (missed cycles : 3).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248519 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248519 ms (missed cycles : 2).[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322126 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322126 ms (missed cycles : 2).[0m ×2 + 37.35sWARNros2_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 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730768 ms (missed cycles : 5). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730768 ms (missed cycles : 5).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183781 ms (missed cycles : 2). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183781 ms (missed cycles : 2).[0m ×2 + 38.89sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477090 ms (missed cycles : 3). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477090 ms (missed cycles : 3).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486541 ms (missed cycles : 3). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486541 ms (missed cycles : 3).[0m ×2 + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.202769 ms (missed cycles : 7). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.202769 ms (missed cycles : 7).[0m ×2 + 42.58sINFOros2_control_node[2026-09-04 12:50:32.901] [info] Received new action goal ×2 + 42.58sINFOros2_control_node[2026-09-04 12:50:32.901] [info] Accepted new action goal ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044083 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044083 ms (missed cycles : 2).[0m ×2 + 43.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 43.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788526234.05300021 seconds ×3 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046276 ms (missed cycles : 3). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046276 ms (missed cycles : 3).[0m ×2 + 44.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 44.33sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 44.51sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788526234.83494973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317570 ms (missed cycles : 4). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317570 ms (missed cycles : 4).[0m ×2 + 45.74sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 45.76sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 45.77sINFOros2_control_node[2026-09-04 12:50:36.089] [info] Received new action goal ×2 + 45.77sINFOros2_control_node[2026-09-04 12:50:36.089] [info] Accepted new action goal ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942704 ms (missed cycles : 3). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942704 ms (missed cycles : 3).[0m ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854202 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854202 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 95 warnings · 13292 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2181 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2181 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4362 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4362 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378891 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378891 ms (missed cycles : 3).[0m ×2 + 1.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687662 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687662 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755723 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755723 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 2.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526290.23057723 seconds ×3 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 2.85sINFOros2_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 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.86sINFOros2_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 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOobjective_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: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_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 25: -> 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 44: -> 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788526290.86799359 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 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.65sINFOros2_control_node[2026-09-04 12:51:31.027] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 12:51:31.027] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326834 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326834 ms (missed cycles : 2).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358350 ms (missed cycles : 3). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358350 ms (missed cycles : 3).[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 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788849 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788849 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461205 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461205 ms (missed cycles : 2).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706140 ms (missed cycles : 5). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706140 ms (missed cycles : 5).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315543 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315543 ms (missed cycles : 2).[0m ×2 + 9.59sWARNros2_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 ×4 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854738 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854738 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149722 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149722 ms (missed cycles : 2).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870840 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870840 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795938 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795938 ms (missed cycles : 2).[0m ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745633 ms (missed cycles : 2). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745633 ms (missed cycles : 2).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737925 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737925 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717180 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717180 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801232 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801232 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214670 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214670 ms (missed cycles : 2).[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507007 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507007 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301840 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301840 ms (missed cycles : 2).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722334 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722334 ms (missed cycles : 2).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 24.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 25.63sINFOobjective_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: 1788526313.09891558 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 + 25.92sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 25.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 25.93sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 25.93sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 12.6s | 3 errors · 75 warnings · 284 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.54sINFOobjective_server_nodecaller: ×8 + 2.54sINFOobjective_server_nodetype: 0 ×8 + 2.54sINFOobjective_server_nodename: "" ×8 + 2.54sINFOobjective_server_nodeinstance_id: "" ×8 + 2.54sINFOobjective_server_node ×8 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×8 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174913 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174913 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727444 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727444 ms (missed cycles : 2).[0m ×2 + 9.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.26sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752041 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752041 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 1 iterations (0.00313453 s). ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X________________X] ×2 + 9.92sINFOros2_control_node[2026-09-04 12:48:56.542] [info] Received new action goal ×2 + 9.92sINFOros2_control_node[2026-09-04 12:48:56.542] [info] Accepted new action goal ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402178 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402178 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784989 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784989 ms (missed cycles : 2).[0m ×2 + 12.23sINFOros2_control_node[2026-09-04 12:48:58.845] [info] Received new action goal ×2 + 12.23sINFOros2_control_node[2026-09-04 12:48:58.845] [info] Accepted new action goal ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788486 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788486 ms (missed cycles : 2).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.99sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 13.99sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 15.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 15.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 15.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.81sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 16.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.54sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.70sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 16.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 16.72sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 16.72sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 68 warnings · 246 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570242 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570242 ms (missed cycles : 2).[0m ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 1 iterations (0.00320759 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.54sINFOros2_control_node[2026-09-04 12:49:33.988] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-04 12:49:33.988] [info] Accepted new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 12:49:34.390] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 12:49:34.390] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680227 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680227 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-04 12:49:35.552] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-04 12:49:35.552] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1788526175.56093812 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089197 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089197 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.70sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.70sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.70sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788526176.21687126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.95sINFOros2_control_node[2026-09-04 12:49:36.390] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-09-04 12:49:36.390] [info] Accepted new action goal ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999483 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999483 ms (missed cycles : 2).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.489353 ms (missed cycles : 6). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.489353 ms (missed cycles : 6).[0m ×2 + 5.49sINFOros2_control_node[2026-09-04 12:49:38.933] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-09-04 12:49:38.933] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177059 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177059 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080496 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080496 ms (missed cycles : 5).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793355 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793355 ms (missed cycles : 2).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704650 ms (missed cycles : 5). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704650 ms (missed cycles : 5).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173388 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173388 ms (missed cycles : 2).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437854 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437854 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176285 ms (missed cycles : 7). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176285 ms (missed cycles : 7).[0m ×2 + 12.06sWARNros2_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 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2).[0m ×2 + 14.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788526187.49486518 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5).[0m ×2 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 14.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788526188.15996218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788526188.22165680 seconds ×3 + 15.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788526188.81477070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.48sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 15.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.49sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Received new action goal ×2 + 15.49sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 17.50sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 18.18sWARNros2_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 | Push Button | move_with_velocity_and_force.xml | 11.7s | 66 warnings · 228 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486541 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486541 ms (missed cycles : 3).[0m ×2 + 0.64sINFOobjective_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 + 0.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.64sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.64sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.64sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.64sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.202769 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.202769 ms (missed cycles : 7).[0m ×2 + 1.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.52sINFOros2_control_node[2026-09-04 12:50:32.901] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-09-04 12:50:32.901] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044083 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044083 ms (missed cycles : 2).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788526234.05300021 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046276 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046276 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.32sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.32sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.32sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.32sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.46sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788526234.83494973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317570 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317570 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.71sINFOros2_control_node[2026-09-04 12:50:36.089] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-09-04 12:50:36.089] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942704 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942704 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854202 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854202 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338016 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338016 ms (missed cycles : 2).[0m ×2 + 8.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.41sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.41sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846837 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846837 ms (missed cycles : 2).[0m ×2 + 9.00sWARNros2_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 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130200 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130200 ms (missed cycles : 2).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724310 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724310 ms (missed cycles : 3).[0m ×2 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.82sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.84sINFOros2_control_node[2026-09-04 12:50:42.215] [info] Received new action goal ×2 + 10.84sINFOros2_control_node[2026-09-04 12:50:42.215] [info] Accepted new action goal ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790601 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790601 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531036 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531036 ms (missed cycles : 2).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953139 ms (missed cycles : 5). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953139 ms (missed cycles : 5).[0m ×2 + 14.43sWARNros2_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 + 14.45sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788526245.82510662 seconds ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874990 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874990 ms (missed cycles : 3).[0m ×2 + 14.99sINFOobjective_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: ""
+ 14.99sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788526246.43169832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 15.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.22sINFOros2_control_node[2026-09-04 12:50:46.599] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-09-04 12:50:46.599] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034081 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034081 ms (missed cycles : 3).[0m ×2 + 16.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773868 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773868 ms (missed cycles : 2).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833563 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833563 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 58 errors · 51 warnings · 375 info |
+ 0.00sWARNros2_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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 0.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.07sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.07sINFOobjective_server_nodecaller: ×8 + 0.07sINFOobjective_server_nodetype: 0 ×8 + 0.07sINFOobjective_server_nodename: "" ×8 + 0.07sINFOobjective_server_nodeinstance_id: "" ×8 + 0.07sINFOobjective_server_node ×8 + 0.11sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.12sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.12sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.12sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.24sINFOobjective_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 + 2.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526373.08738399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526374.24750352 seconds ×3 + 4.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5).[0m ×2 + 6.16sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288182 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288182 ms (missed cycles : 3).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141318 ms (missed cycles : 5). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.141318 ms (missed cycles : 5).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532400 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532400 ms (missed cycles : 3).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966202 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966202 ms (missed cycles : 3).[0m ×2 + 10.63sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.65sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.65sERRORweb_video_auth_proxy-23process has died [pid 8748, 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 + 10.65sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.66sERRORweb_bridge_auth_proxy-22process has died [pid 8747, 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 + 10.66sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.66sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.66sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.67sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.67sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.68sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.68sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.69sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.69sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.70sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.70sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.71sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.72sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.72sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.72sINFOvideo_server2026/09/04 12:53:00 INF shutting down gracefully ×2 + 10.72sINFOcontroller_managerShutdown request received.... + 10.72sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.72sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.72sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.72sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.72sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.72sINFOvideo_server2026/09/04 12:53:00 INF [WebRTC] closing ×2 + 10.72sINFOvideo_server2026/09/04 12:53:00 INF [RTSP] closing ×2 + 10.72sINFOvideo_server2026/09/04 12:53:00 INF waiting for running hooks ×2 + 10.72sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.72sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.72sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.72sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.72sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.72sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.72sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.72sERRORmove_groupStack trace (most recent call last) in thread 9107: ×2 + 10.72sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.72sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.72sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.72sINFOcontroller_managerShutting down the controller manager. + 10.72sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.72sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.72sINFOvideo_server-21process has finished cleanly [pid 8746] ×2 + 10.73sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.73sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.73sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.73sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.73sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.73sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.73sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.73sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.73sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b51e82a63, in __clone ×2 + 10.73sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b51df5aa3, in ×2 + 10.73sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b52087db3, in ×2 + 10.73sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0b527eca94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.73sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b52419620, in rclcpp::Rate::sleep() ×2 + 10.73sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b5235bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.73sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0b5231d087, in ×2 + 10.73sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b52056390, in __cxa_throw ×2 + 10.73sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b52040a54, in std::terminate() ×2 + 10.73sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b520560d9, in ×2 + 10.73sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0b52040ff4, in ×2 + 10.73sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b51d818fe, in abort ×2 + 10.73sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b51d9e27d, in raise ×2 + 10.73sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0b51df7b2c, in pthread_kill ×2 + 10.73sERRORmove_groupAborted (Signal sent by tkill() 8671 0) ×2 + 10.74sERRORmove_group-9process has died [pid 8671, 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_xzlpx00l --params-file /tmp/launch_params_q2a98yr_ --params-file /tmp/launch_params_0vhv5aae --params-file /tmp/launch_params__tfduplh --params-file /tmp/launch_params_ugp3n19i --params-file /tmp/launch_params_f982w1vl']. ×2 + 10.93sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.93sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.93sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.71sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8745] ×2 + 11.71sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.73sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8675] ×2 + 11.73sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8674] ×2 + 11.77sINFOexecute_objective_bridge-17process has finished cleanly [pid 8679] ×2 + 11.77sINFOui_teleop_bridge-18process has finished cleanly [pid 8680] ×2 + 11.78sINFOcomponent_container_mt-16process has finished cleanly [pid 8678] ×2 + 11.78sINFOwaypoint_manager_node-11process has finished cleanly [pid 8673] ×2 + 11.78sINFOparameter_manager_node-10process has finished cleanly [pid 8672] ×2 + 11.95sINFOobjective_server_node[0;m[2026-09-04 12:53:01.494] [moveit_pro_license] [info] ×2 + 11.95sINFOobjective_server_node************************************************* ×4 + 11.95sINFOobjective_server_node* MoveIt Pro License ×2 + 11.95sINFOobjective_server_node* Application has successfully terminated ×2 + 12.08sINFOobjective_server_node_main-14process has finished cleanly [pid 8676] ×2 + 12.08sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.70sINFOweb_bridge-19process has finished cleanly [pid 8681] ×2 + 12.70sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.87sINFOcomponent_container_mt-15process has finished cleanly [pid 8677] ×2 + 13.37sINFOros2_control_node-1process has finished cleanly [pid 8620] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 63 warnings · 2006 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×300 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×300 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×600 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×600 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 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 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.56sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526313.09891558 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 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017512 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017512 ms (missed cycles : 2).[0m ×2 + 7.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 1 iterations (0.00421141 s). ×2 + 7.99sWARNros2_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 + 7.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X________________X] ×2 + 8.05sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.06sINFOros2_control_node[2026-09-04 12:51:57.566] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-04 12:51:57.566] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871052 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871052 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010067 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010067 ms (missed cycles : 2).[0m ×2 + 10.37sINFOros2_control_node[2026-09-04 12:51:59.868] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-04 12:51:59.868] [info] Accepted new action goal ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265848 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265848 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 12.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.13sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 12.13sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 13.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 14.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.71sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 14.89sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 16.80sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 63 warnings · 196 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 (2.64e-07 s). ×4 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570752 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570752 ms (missed cycles : 5).[0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 6.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 6.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 6.93sINFOobjective_server_nodeFound path in 1 iterations (0.00281139 s). ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 2 iterations (0.00592245 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.24sINFOobjective_server_nodeFound path in 1 iterations (0.00339303 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224933 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224933 ms (missed cycles : 2).[0m ×2 + 7.67sINFOros2_control_node[2026-09-04 12:49:18.951] [info] Received new action goal ×2 + 7.67sINFOros2_control_node[2026-09-04 12:49:18.951] [info] Accepted new action goal ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673140 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673140 ms (missed cycles : 3).[0m ×2 + 9.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.92sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348939 ms (missed cycles : 4). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348939 ms (missed cycles : 4).[0m ×2 + 10.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.19sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788526161.50798893 seconds ×3 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303917 ms (missed cycles : 5). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303917 ms (missed cycles : 5).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575178 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575178 ms (missed cycles : 2).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179985 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179985 ms (missed cycles : 2).[0m ×2 + 13.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.00sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788526165.28220868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.21sINFOros2_control_node[2026-09-04 12:49:25.497] [info] Received new action goal ×2 + 14.21sINFOros2_control_node[2026-09-04 12:49:25.497] [info] Accepted new action goal ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043380 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043380 ms (missed cycles : 4).[0m ×2 + 15.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300605 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300605 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864998 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864998 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 6 errors · 75 warnings · 326 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.419161 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.419161 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956295 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956295 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508469 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508469 ms (missed cycles : 5).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788526345.05542445 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819737 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819737 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.44sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.44sINFOobjective_server_nodecaller: ×10 + 3.44sINFOobjective_server_nodetype: 0 ×10 + 3.44sINFOobjective_server_nodename: "" ×10 + 3.44sINFOobjective_server_nodeinstance_id: "" ×10 + 3.44sINFOobjective_server_node ×10 + 3.49sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 3.49sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×12 + 3.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×12 + 3.50sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788526345.69865537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 12:52:25.832] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 12:52:25.832] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381572 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381572 ms (missed cycles : 2).[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111162 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111162 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802274 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802274 ms (missed cycles : 3).[0m ×2 + 7.02sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483441 ms (missed cycles : 6). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.483441 ms (missed cycles : 6).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262217 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262217 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626465 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626465 ms (missed cycles : 3).[0m ×2 + 9.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822818 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822818 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_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 + 13.86sERRORobjective_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: 1788526356.05892944 seconds ×3 + 14.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.41sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.46sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 14.46sERRORobjective_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 + 14.46sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 14.46sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 15.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 15.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.26sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 15.37sWARNros2_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 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.82sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOobjective_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 + 15.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 16.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.62sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 16.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.75sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 16.75sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 63 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785071 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739782 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739782 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 1.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.44sINFOros2_control_node[2026-09-04 12:48:37.056] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-09-04 12:48:37.056] [info] Accepted new action goal ×2 + 1.89sWARNros2_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 + 1.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.93sINFOros2_control_node[2026-09-04 12:48:37.552] [info] Got request to cancel active goal. ×2 + 1.93sINFOros2_control_node[2026-09-04 12:48:37.552] [info] Canceling active goal... ×2 + 1.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526117.56809258 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.96sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101426 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101426 ms (missed cycles : 3).[0m ×2 + 2.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.49sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.49sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.49sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.49sINFOobjective_server_nodecaller: ×6 + 2.49sINFOobjective_server_nodetype: 0 ×6 + 2.49sINFOobjective_server_nodename: "" ×6 + 2.49sINFOobjective_server_nodeinstance_id: "" ×6 + 2.49sINFOobjective_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 25: -> 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 44: -> 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788526118.18149233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 2.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.78sINFOros2_control_node[2026-09-04 12:48:38.397] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-09-04 12:48:38.397] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505329 ms (missed cycles : 6). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505329 ms (missed cycles : 6).[0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674806 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674806 ms (missed cycles : 2).[0m ×2 + 4.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (6.77e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.07sINFOros2_control_node[2026-09-04 12:48:40.685] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-09-04 12:48:40.685] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858164 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858164 ms (missed cycles : 4).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698537 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698537 ms (missed cycles : 5).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353166 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353166 ms (missed cycles : 3).[0m ×2 + 8.03sWARNros2_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 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798913 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798913 ms (missed cycles : 2).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175918 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175918 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 12.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 13.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 14.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 14.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 14.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 75 warnings · 422 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.38sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.38sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.38sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.38sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.38sINFOobjective_server_nodecaller: ×12 + 0.38sINFOobjective_server_nodetype: 0 ×12 + 0.38sINFOobjective_server_nodename: "" ×12 + 0.38sINFOobjective_server_nodeinstance_id: "" ×12 + 0.38sINFOobjective_server_node ×12 + 0.43sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.43sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.50sINFOros2_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 ] ×5 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.43sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.31sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.00sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.00sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3).[0m ×2 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854717 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854717 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897772 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897772 ms (missed cycles : 2).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860006 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860006 ms (missed cycles : 2).[0m ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 9.81sINFOros2_control_node[2026-09-04 12:48:33.706] [info] Received new action goal ×2 + 9.81sINFOros2_control_node[2026-09-04 12:48:33.706] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023194 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023194 ms (missed cycles : 3).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785071 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785071 ms (missed cycles : 2).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739782 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739782 ms (missed cycles : 3).[0m ×2 + 13.13sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.16sINFOros2_control_node[2026-09-04 12:48:37.056] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-04 12:48:37.056] [info] Accepted new action goal ×2 + 13.61sWARNros2_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 + 13.65sINFOobjective_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 + 13.65sINFOros2_control_node[2026-09-04 12:48:37.552] [info] Got request to cancel active goal. ×2 + 13.65sINFOros2_control_node[2026-09-04 12:48:37.552] [info] Canceling active goal... ×2 + 13.67sERRORobjective_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: 1788526117.56809258 seconds ×3 + 13.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101426 ms (missed cycles : 3). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101426 ms (missed cycles : 3).[0m ×2 + 14.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788526118.18149233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.50sINFOros2_control_node[2026-09-04 12:48:38.397] [info] Received new action goal ×2 + 14.50sINFOros2_control_node[2026-09-04 12:48:38.397] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505329 ms (missed cycles : 6). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505329 ms (missed cycles : 6).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674806 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674806 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_server_nodeFound path in 0 iterations (6.77e-07 s). ×2 + 16.77sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.79sINFOros2_control_node[2026-09-04 12:48:40.685] [info] Received new action goal ×2 + 16.79sINFOros2_control_node[2026-09-04 12:48:40.685] [info] Accepted new action goal ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858164 ms (missed cycles : 4). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858164 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 63 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918962 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918962 ms (missed cycles : 2).[0m ×2 + 7.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787264 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.787264 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.114684 ms (missed cycles : 6). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.114684 ms (missed cycles : 6).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227652 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227652 ms (missed cycles : 2).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063088 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063088 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243406 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243406 ms (missed cycles : 3).[0m ×2 + 13.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sERRORobjective_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: 1788526334.55286145 seconds ×3 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143326 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143326 ms (missed cycles : 3).[0m ×2 + 14.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.09sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788526335.14977384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.44sINFOros2_control_node[2026-09-04 12:52:15.452] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-09-04 12:52:15.452] [info] Accepted new action goal ×2 + 14.46sWARNros2_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 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081096 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081096 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340532 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340532 ms (missed cycles : 2).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289010 ms (missed cycles : 5). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289010 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 63 warnings · 240 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.30sINFOobjective_server_nodecaller: ×6 + 2.30sINFOobjective_server_nodetype: 0 ×6 + 2.30sINFOobjective_server_nodename: "" ×6 + 2.30sINFOobjective_server_nodeinstance_id: "" ×6 + 2.30sINFOobjective_server_node ×6 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140807 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140807 ms (missed cycles : 2).[0m ×2 + 8.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 8.90sINFOros2_control_node[2026-09-04 12:49:09.037] [info] Received new action goal ×2 + 8.90sINFOros2_control_node[2026-09-04 12:49:09.037] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613930 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613930 ms (missed cycles : 4).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193245 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193245 ms (missed cycles : 2).[0m ×2 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 11.25sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 11.25sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 13.41sINFOobjective_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 + 13.42sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 13.42sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 13.42sERRORobjective_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: 1788526153.55974555 seconds ×3 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 14.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.00sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 14.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.30sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 14.47sWARNros2_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 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 17.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 17.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 17.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 3 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303917 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303917 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575178 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575178 ms (missed cycles : 2).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179985 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179985 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.76sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.76sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.76sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.76sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788526165.28220868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.02sINFOros2_control_node[2026-09-04 12:49:25.497] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-04 12:49:25.497] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043380 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043380 ms (missed cycles : 4).[0m ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300605 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300605 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864998 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864998 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980741 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980741 ms (missed cycles : 3).[0m ×2 + 6.73sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083106 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083106 ms (missed cycles : 2).[0m ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 1 iterations (0.00346247 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 2 iterations (0.00509949 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.0032735 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.59sINFOros2_control_node[2026-09-04 12:49:31.070] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-04 12:49:31.070] [info] Accepted new action goal ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766196 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766196 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746693 ms (missed cycles : 4). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746693 ms (missed cycles : 4).[0m ×2 + 10.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570242 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570242 ms (missed cycles : 2).[0m ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.27sINFOobjective_server_nodeFound path in 1 iterations (0.00320759 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.51sINFOros2_control_node[2026-09-04 12:49:33.988] [info] Received new action goal ×2 + 11.51sINFOros2_control_node[2026-09-04 12:49:33.988] [info] Accepted new action goal ×2 + 11.91sINFOros2_control_node[2026-09-04 12:49:34.390] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-09-04 12:49:34.390] [info] Accepted new action goal ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680227 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680227 ms (missed cycles : 2).[0m ×2 + 13.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.07sINFOros2_control_node[2026-09-04 12:49:35.552] [info] Got request to cancel active goal. ×2 + 13.07sINFOros2_control_node[2026-09-04 12:49:35.552] [info] Canceling active goal... ×2 + 13.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526175.56093812 seconds ×3 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089197 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089197 ms (missed cycles : 3).[0m ×2 + 13.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.62sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 13.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788526176.21687126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.89sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 13.91sINFOros2_control_node[2026-09-04 12:49:36.390] [info] Received new action goal ×2 + 13.91sINFOros2_control_node[2026-09-04 12:49:36.390] [info] Accepted new action goal ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999483 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999483 ms (missed cycles : 2).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.489353 ms (missed cycles : 6). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.489353 ms (missed cycles : 6).[0m ×2 + 16.45sINFOros2_control_node[2026-09-04 12:49:38.933] [info] Received new action goal ×2 + 16.45sINFOros2_control_node[2026-09-04 12:49:38.933] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177059 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177059 ms (missed cycles : 2).[0m ×2 + 17.02sWARNros2_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 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 9 errors · 81 warnings · 468 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 0.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.77sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.77sINFOobjective_server_nodecaller: ×14 + 0.77sINFOobjective_server_nodetype: 0 ×14 + 0.77sINFOobjective_server_nodename: "" ×14 + 0.77sINFOobjective_server_nodeinstance_id: "" ×14 + 0.77sINFOobjective_server_node ×14 + 0.81sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.81sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×16 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×16 + 0.82sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 0.82sERRORobjective_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 + 0.82sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.82sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 1.73sWARNros2_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 ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.920777 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.920777 ms (missed cycles : 5).[0m ×2 + 6.43sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.43sINFOros2_control_node[2026-09-04 12:52:42.273] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 12:52:42.273] [info] Accepted new action goal ×2 + 6.43sINFOros2_control_node[2026-09-04 12:52:42.273] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819362 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819362 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889848 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889848 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536509 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536509 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5).[0m ×2 + 13.22sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Got request to cancel active goal. ×2 + 13.22sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Canceling active goal... ×2 + 13.22sERRORobjective_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: 1788526369.06452847 seconds ×3 + 13.70sWARNros2_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 5.818967 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 13.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 15.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 15.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.89sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 15.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.94sINFOobjective_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 + 15.95sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.95sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 16.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 63 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227652 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063088 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063088 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243406 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243406 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1788526334.55286145 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143326 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143326 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.57sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.57sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788526335.14977384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 12:52:15.452] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 12:52:15.452] [info] Accepted new action goal ×2 + 3.90sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081096 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081096 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340532 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340532 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289010 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289010 ms (missed cycles : 5).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278552 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278552 ms (missed cycles : 2).[0m ×2 + 7.90sINFOros2_control_node[2026-09-04 12:52:19.469] [info] Received new action goal ×2 + 7.90sINFOros2_control_node[2026-09-04 12:52:19.469] [info] Accepted new action goal ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244560 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244560 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972912 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972912 ms (missed cycles : 2).[0m ×2 + 9.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.419161 ms (missed cycles : 6). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.419161 ms (missed cycles : 6).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956295 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956295 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508469 ms (missed cycles : 5). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508469 ms (missed cycles : 5).[0m ×2 + 13.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788526345.05542445 seconds ×3 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819737 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819737 ms (missed cycles : 5).[0m ×2 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788526345.69865537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 14.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.26sINFOros2_control_node[2026-09-04 12:52:25.832] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-09-04 12:52:25.832] [info] Accepted new action goal ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381572 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381572 ms (missed cycles : 2).[0m ×2 + 15.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111162 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111162 ms (missed cycles : 3).[0m ×2 + 16.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802274 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802274 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 40 warnings · 228 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788526187.49486518 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.65sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788526188.15996218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788526188.22165680 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788526188.81477070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.43sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 6.12sWARNros2_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 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.04sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.19sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.19sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 7.52sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 7.52sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 10.39sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 10.39sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 42 warnings · 229 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1788526369.06452847 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.25sINFOobjective_server_nodeinstance_id: "" ×8 + 3.25sINFOobjective_server_node ×8 + 3.29sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.29sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.42sINFOobjective_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 + 5.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526373.08738399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2).[0m ×2 + 7.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526374.24750352 seconds ×3 + 7.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 57 warnings · 659 info |
+ 0.00sWARNobjective_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 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991841 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991841 ms (missed cycles : 2).[0m ×2 + 0.07sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.07sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.08sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.09sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:48:19.569] [info] Controller state will be published at 10 Hz. ×2 + 0.10sINFOros2_control_node[2026-09-04 12:48:19.570] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.13sINFOcomponent_container_mt[2026-09-04 12:48:19.596] [moveit_pro_license] [info] ×2 + 0.13sINFOcomponent_container_mt************************************************* ×4 + 0.13sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.23sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.23sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.23sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.37sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.42sINFOros2-7process has finished cleanly [pid 8626] ×2 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.42sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 8622] ×2 + 0.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.84sINFOros2_control_node[2026-09-04 12:48:20.310] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-04 12:48:20.311] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 1.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126412 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126412 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2-8process has finished cleanly [pid 8627] ×2 + 1.13sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.13sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.14sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.14sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.15sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 1.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 1.45sINFOros2-5process has finished cleanly [pid 8624] ×2 + 1.46sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.46sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.47sINFOforce_torque_sensor_broadcasterconfigure successful + 1.47sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.79sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.79sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.79sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.82sINFOros2-2process has finished cleanly [pid 8621] ×2 + 1.82sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.86sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 1.86sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 1.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.87sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.87sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.90sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.90sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.90sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.92sINFOros2_control_node[2026-09-04 12:48:21.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.92sINFOros2_control_node[2026-09-04 12:48:21.388] [info] Controller state will be published at 50 Hz. ×2 + 1.93sINFOros2_control_node[2026-09-04 12:48:21.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 2.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 2.30sINFOros2-6process has finished cleanly [pid 8625] ×2 + 2.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.30sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.30sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.48sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.48sINFOobjective_server_nodecaller: ×14 + 2.48sINFOobjective_server_nodetype: 0 ×14 + 2.48sINFOobjective_server_nodename: "" ×14 + 2.48sINFOobjective_server_nodeinstance_id: "" ×14 + 2.48sINFOobjective_server_node ×14 + 2.52sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×7 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 2.65sINFOros2-4process has finished cleanly [pid 8623] ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 7.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 7.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.74sINFOobjective_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 + 7.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.86sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 7.86sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 29 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3).[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 5.357373 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_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 + 1.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.77sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.77sINFOobjective_server_nodecaller: ×8 + 1.77sINFOobjective_server_nodetype: 0 ×8 + 1.77sINFOobjective_server_nodename: "" ×8 + 1.77sINFOobjective_server_nodeinstance_id: "" ×8 + 1.77sINFOobjective_server_node ×8 + 1.82sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.82sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.82sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 1.82sERRORobjective_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 + 1.82sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.82sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 2.73sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_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 + 3.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 28 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176285 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176285 ms (missed cycles : 7).[0m ×2 + 0.10sWARNros2_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 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788526187.49486518 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 2.75sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.75sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788526188.15996218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788526188.22165680 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788526188.81477070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.53sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 6.22sWARNros2_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 | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 40 warnings · 229 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 12:52:49.059] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-04 12:52:49.059] [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: 1788526369.06452847 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.03sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.73sINFOobjective_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 + 2.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526373.08738399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526374.24750352 seconds ×3 + 5.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5).[0m ×2 + 6.65sWARNros2_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 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288182 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288182 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 29 warnings · 140 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 44 warnings · 501 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8621] ×2 + 0.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 12:48:21.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.57sINFOros2-6process has finished cleanly [pid 8625] ×2 + 0.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.57sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.58sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.59sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.79sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.79sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 0.92sINFOros2-4process has finished cleanly [pid 8623] ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 3.43sWARNros2_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 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 6 errors · 38 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.84sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.84sERRORobjective_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? ×2 + 2.84sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.84sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 3.75sWARNros2_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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[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 7.925932 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5).[0m ×2 + 0.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Got request to cancel active goal. ×2 + 0.61sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Canceling active goal... ×2 + 0.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526369.06452847 seconds ×3 + 0.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.09sWARNros2_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 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.16sINFOobjective_server_nodecaller: ×8 + 1.16sINFOobjective_server_nodetype: 0 ×8 + 1.16sINFOobjective_server_nodename: "" ×8 + 1.16sINFOobjective_server_nodeinstance_id: "" ×8 + 1.16sINFOobjective_server_node ×8 + 1.21sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.21sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.21sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.21sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526373.08738399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280114 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526374.24750352 seconds ×3 + 5.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653750 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 1892 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×300 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×300 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×600 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×600 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 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 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.56sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526313.09891558 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 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.1s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.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 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.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 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_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 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_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 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.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 9.573466 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.573466 ms (missed cycles : 6).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.449037 ms (missed cycles : 7).[0m ×2 + 1.93sINFOobjective_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 + 1.93sERRORobjective_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: 1788526128.55204821 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980223 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.54sINFOobjective_server_nodecaller: ×4 + 2.54sINFOobjective_server_nodetype: 0 ×4 + 2.54sINFOobjective_server_nodename: "" ×4 + 2.54sINFOobjective_server_nodeinstance_id: "" ×4 + 2.54sINFOobjective_server_node ×4 + 2.60sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788526129.22110939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788526129.30121017 seconds ×3 + 3.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222312 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788526129.92266202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-04 12:48:50.117] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058139 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830840 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811236 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 29 warnings · 140 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162877 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-04 12:49:00.608] [info] Accepted new action goal ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103543 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788526141.89408278 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173201 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.34sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788526142.50807023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788526142.58819413 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.08sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788526143.21586442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-04 12:49:03.340] [info] Accepted new action goal ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.517508 ms (missed cycles : 6).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341307 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994667 ms (missed cycles : 3).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-04 12:49:06.700] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824525 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 89 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 (2.64e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843911 ms (missed cycles : 2).[0m ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-09-04 12:49:11.388] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.003574 ms (missed cycles : 7).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 12:49:13.556] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788526153.55974555 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362093 ms (missed cycles : 6).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.89sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.89sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788526154.19485068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-09-04 12:49:14.438] [info] Accepted new action goal ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850121 ms (missed cycles : 5).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857142 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753253 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 100 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570242 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570242 ms (missed cycles : 2).[0m ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 1 iterations (0.00320759 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.54sINFOros2_control_node[2026-09-04 12:49:33.988] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-09-04 12:49:33.988] [info] Accepted new action goal ×2 + 0.94sINFOros2_control_node[2026-09-04 12:49:34.390] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-04 12:49:34.390] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680227 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680227 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-04 12:49:35.552] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-04 12:49:35.552] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1788526175.56093812 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089197 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089197 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.66sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.66sINFOobjective_server_nodecaller: ×2 + 2.66sINFOobjective_server_nodetype: 0 ×2 + 2.66sINFOobjective_server_nodename: "" ×2 + 2.66sINFOobjective_server_nodeinstance_id: "" ×2 + 2.66sINFOobjective_server_node ×2 + 2.70sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.70sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.70sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788526176.21687126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 2.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.95sINFOros2_control_node[2026-09-04 12:49:36.390] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-09-04 12:49:36.390] [info] Accepted new action goal ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999483 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999483 ms (missed cycles : 2).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.489353 ms (missed cycles : 6). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.489353 ms (missed cycles : 6).[0m ×2 + 5.49sINFOros2_control_node[2026-09-04 12:49:38.933] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-09-04 12:49:38.933] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177059 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177059 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_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 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 28 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176285 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.176285 ms (missed cycles : 7).[0m ×2 + 0.10sWARNros2_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 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775149 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788526187.49486518 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056322 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 2.75sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.75sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788526188.15996218 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788526188.22165680 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788526188.81477070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.53sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 12:49:48.938] [info] Accepted new action goal ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205862 ms (missed cycles : 2).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 6.22sWARNros2_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 | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.029029 ms (missed cycles : 8).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788526190.94489932 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115897 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_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 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 2.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.22sINFOobjective_server_nodecaller: ×2 + 2.22sINFOobjective_server_nodetype: 0 ×2 + 2.22sINFOobjective_server_nodename: "" ×2 + 2.22sINFOobjective_server_nodeinstance_id: "" ×2 + 2.22sINFOobjective_server_node ×2 + 2.28sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788526192.61280489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sINFOobjective_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 + 2.38sINFOobjective_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 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897830 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 2.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 2.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-09-04 12:49:53.030] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254740 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659144 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621048 ms (missed cycles : 2).[0m ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-09-04 12:49:55.897] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790601 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531036 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531036 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953139 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953139 ms (missed cycles : 5).[0m ×2 + 2.79sWARNros2_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 + 2.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788526245.82510662 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874990 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874990 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.40sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.40sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788526246.43169832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.58sINFOros2_control_node[2026-09-04 12:50:46.599] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-09-04 12:50:46.599] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034081 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034081 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773868 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773868 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833563 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 1892 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×300 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×300 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×600 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×600 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 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 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.56sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526313.09891558 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 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 1892 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×300 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×300 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×600 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×600 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 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 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.56sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526313.09891558 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 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 1892 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×300 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×300 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×600 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×600 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 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 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.56sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526313.09891558 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 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 1892 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×300 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×300 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×600 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×600 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492561 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750648 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187752 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 2.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526312.35787249 seconds ×3 + 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 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907918 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.56sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526313.09891558 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 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-04 12:51:53.313] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772124 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997285 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 26 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430692 ms (missed cycles : 3).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Received new action goal ×2 + 0.62sINFOros2_control_node[2026-09-04 12:52:01.632] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484917 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526322.91907883 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064977 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sWARNros2_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 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068528 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.16sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.16sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.20sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526324.21244287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-04 12:52:04.396] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728331 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267065 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461591 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227652 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063088 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063088 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243406 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243406 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1788526334.55286145 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143326 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143326 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.57sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.57sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788526335.14977384 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.88sINFOros2_control_node[2026-09-04 12:52:15.452] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-04 12:52:15.452] [info] Accepted new action goal ×2 + 3.90sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081096 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081096 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340532 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340532 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289010 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.289010 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.419161 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.419161 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956295 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956295 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508469 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508469 ms (missed cycles : 5).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788526345.05542445 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819737 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819737 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.49sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 3.49sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.49sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.50sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788526345.69865537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 12:52:25.832] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 12:52:25.832] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381572 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381572 ms (missed cycles : 2).[0m ×2 + 4.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111162 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111162 ms (missed cycles : 3).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802274 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802274 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 6 errors · 35 warnings · 256 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.84sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.84sERRORobjective_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? ×2 + 2.84sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.84sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 3.75sWARNros2_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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[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 3.580863 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.84sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.84sERRORobjective_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? ×2 + 2.84sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.84sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 3.75sWARNros2_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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[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 3.580863 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.84sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.84sERRORobjective_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? ×2 + 2.84sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.84sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 3.75sWARNros2_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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[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 3.580863 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580863 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357373 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.79sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.79sINFOobjective_server_nodecaller: ×8 + 2.79sINFOobjective_server_nodetype: 0 ×8 + 2.79sINFOobjective_server_nodename: "" ×8 + 2.79sINFOobjective_server_nodeinstance_id: "" ×8 + 2.79sINFOobjective_server_node ×8 + 2.84sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.84sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.84sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 2.84sERRORobjective_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? ×2 + 2.84sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.84sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 3.75sWARNros2_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 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 5.14sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[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 4.681564 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_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 + 0.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.81sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.82sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 0.82sERRORobjective_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 + 0.82sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.82sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 1.73sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[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 4.681564 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_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 + 0.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.81sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.82sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 0.82sERRORobjective_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 + 0.82sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.82sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 1.73sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[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 4.681564 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_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 + 0.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.81sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.82sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 0.82sERRORobjective_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 + 0.82sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.82sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 1.73sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[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 4.681564 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681564 ms (missed cycles : 3).[0m ×2 + 0.21sINFOobjective_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 + 0.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788526356.05892944 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.81sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.81sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.82sERRORobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage + 0.82sERRORobjective_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 + 0.82sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 0.82sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041013 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526357.42888737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526357.47902656 seconds ×3 + 1.73sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653301 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526358.08486819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_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 + 2.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526358.10773420 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526358.81948996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846307 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-04 12:52:38.953] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923661 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958464 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 35 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1788526369.06452847 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.29sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×3 + 3.29sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.42sINFOobjective_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 + 5.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 35 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783286 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028171 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.925932 ms (missed cycles : 5).[0m ×2 + 2.69sINFOobjective_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 + 2.69sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-09-04 12:52:49.059] [info] Canceling active goal... ×2 + 2.70sERRORobjective_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: 1788526369.06452847 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sWARNros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818967 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.29sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×3 + 3.29sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526369.66070890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343632 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526371.19084024 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684276 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526371.78361297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.42sINFOobjective_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 + 5.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526371.78553271 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526372.49737978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526372.49794769 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526124 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__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 | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [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 | 7.0s | 38 errors · 406 warnings · 12398 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/2026-09-04-12-43-26-341740-d8d34dadd4fb-7278 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 0.88sINFOros2_control_node-1process started with pid [7326] + 0.88sINFOmove_group-9process started with pid [7375] + 0.88sINFOparameter_manager_node-10process started with pid [7378] + 0.88sINFOwaypoint_manager_node-11process started with pid [7379] + 0.88sINFOmove_joint_resampler_node-12process started with pid [7380] + 0.88sINFOmove_end_effector_resampler_node-13process started with pid [7381] + 0.88sINFOobjective_server_node_main-14process started with pid [7382] + 0.88sINFOcomponent_container_mt-15process started with pid [7383] + 0.88sINFOcomponent_container_mt-16process started with pid [7384] + 0.88sINFOexecute_objective_bridge-17process started with pid [7385] + 0.88sINFOui_teleop_bridge-18process started with pid [7386] + 0.88sINFOweb_bridge-19process started with pid [7387] + 0.88sINFOtf2_web_republisher_node-20process started with pid [7453] + 0.88sINFOvideo_server-21process started with pid [7454] + 0.88sINFOweb_bridge_auth_proxy-22process started with pid [7455] + 0.88sINFOweb_video_auth_proxy-23process started with pid [7456] + 0.89sINFOros2-2process started with pid [7327] + 0.89sINFOros2-3process started with pid [7328] + 0.89sINFOros2-4process started with pid [7340] + 0.89sINFOros2-5process started with pid [7341] + 0.89sINFOros2-6process started with pid [7342] + 0.89sINFOros2-7process started with pid [7343] + 0.89sINFOros2-8process started with pid [7344] + 0.90sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 0.90sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 0.90sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811961 ms (missed cycles : 3).[0m + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 1.07sINFOvideo_server2026/09/04 12:43:27 INF MediaMTX v1.20.1, linux, amd64 + 1.08sINFOvideo_server2026/09/04 12:43:27 INF configuration loaded from /tmp/moveit-webrtc-qadotu9q/mediamtx.yml + 1.08sINFOvideo_server2026/09/04 12:43:27 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 1.08sINFOvideo_server2026/09/04 12:43:27 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 1.09sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 1.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 1.88sINFOmove_group[2026-09-04 12:43:28.620] [moveit_pro_license] [info] + 1.88sINFOmove_group************************************************* ×6 + 1.88sINFOmove_group* MoveIt Pro License ×3 + 1.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.04sINFOwaypoint_manager_node[2026-09-04 12:43:28.774] [moveit_pro_license] [info] + 2.04sINFOwaypoint_manager_node************************************************* ×6 + 2.04sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 2.04sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 2.06sINFOros2_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 + 2.06sINFOros2_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 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025902 ms (missed cycles : 2).[0m + 2.13sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 2.15sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 2.21sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 2.21sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 2.21sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 2.21sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 2.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 2.22sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 2.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 2.35sINFOmove_group ×6 + 2.36sINFOmove_group[92mYou can start planning now![0m ×3 + 3.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 3.53sINFOobjective_server_node[2026-09-04 12:43:30.273] [moveit_pro_license] [info] + 3.53sINFOobjective_server_node************************************************* ×8 + 3.53sINFOobjective_server_node* MoveIt Pro License ×4 + 3.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.65sINFOobjective_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 + 3.65sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 3.66sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 3.66sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 3.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 3.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 3.84sWARNros2_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 + 3.84sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×3 + 3.84sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×3 + 3.84sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 3.84sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 3.84sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 3.84sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 3.84sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×3 + 3.84sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×3 + 3.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 3.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 3.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 3.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 3.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 3.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 3.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 3.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 4.05sINFOcomponent_container_mt[2026-09-04 12:43:30.792] [moveit_pro_license] [info] + 4.05sINFOcomponent_container_mt************************************************* ×6 + 4.05sINFOcomponent_container_mt* MoveIt Pro License ×3 + 4.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 4.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 4.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 4.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 4.06sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 4.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 4.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 4.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 4.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 4.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×119 + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098538 ms (missed cycles : 4).[0m + 4.09sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 4.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 4.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 4.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 4.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 4.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 4.38sINFOros2_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 + 4.38sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 4.38sWARNros2_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 + 4.40sINFOros2-3process has finished cleanly [pid 7328] + 4.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 4.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 4.42sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 4.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 4.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 4.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 4.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×5 + 4.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 4.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 4.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 4.73sINFOros2-5process has finished cleanly [pid 7341] + 4.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 4.86sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 4.86sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 4.86sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 4.89sINFOros2_control_node[2026-09-04 12:43:31.627] [info] Controller state will be published at 20 Hz. + 4.89sINFOros2_control_node[2026-09-04 12:43:31.628] [info] JointVelocityController 'on_configure' succeeded. + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226395 ms (missed cycles : 2).[0m + 5.18sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 5.18sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 5.22sWARNobjective_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 + 5.23sINFOros2-8process has finished cleanly [pid 7344] + 5.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 5.30sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 5.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 5.30sINFOros2_control_node[2026-09-04 12:43:32.041] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.30sINFOros2_control_node[2026-09-04 12:43:32.041] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.33sINFOros2_control_node[2026-09-04 12:43:32.064] [info] First order lag filter time constant set to: 0.2 seconds + 5.33sINFOros2_control_node[2026-09-04 12:43:32.064] [info] Controller state will be published at 50 Hz. + 5.33sINFOros2_control_node[2026-09-04 12:43:32.070] [info] Registered `FollowJointTrajectory` action server. + 5.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 5.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 5.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 5.66sINFOros2-6process has finished cleanly [pid 7342] + 5.69sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 5.69sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 5.69sINFOros2_control_nodeconfigure successful[0m ×3 + 5.70sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 5.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 5.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 5.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 5.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 6.04sINFOros2-2process has finished cleanly [pid 7327] + 6.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 6.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 6.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×22 + 6.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 6.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×90 + 6.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 6.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 6.14sINFOros2_control_node[2026-09-04 12:43:32.874] [info] Controller state will be published at 10 Hz. + 6.14sINFOros2_control_node[2026-09-04 12:43:32.875] [info] VelocityForceController 'on_configure' succeeded. + 6.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×48 + 6.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×46 + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×22 + 6.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×22 + 6.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 6.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 6.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bpwqrlob --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_v17dwsgo --params-file /tmp/launch_params_wv2nepw_ [0m + 6.47sINFOros2-7process has finished cleanly [pid 7343] + 6.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 6.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 6.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 6.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 6.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673799 ms (missed cycles : 2).[0m + 6.77sINFOobjective_server_nodeReceived /do_objective goal: ×43 + 6.77sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 6.78sINFOobjective_server_nodeobjective_xml_string: "" ×43 + 6.78sINFOobjective_server_nodeparameter_overrides: [] ×43 + 6.78sINFOobjective_server_nodecaller: ×43 + 6.78sINFOobjective_server_nodetype: 0 ×43 + 6.78sINFOobjective_server_nodename: "" ×43 + 6.78sINFOobjective_server_nodeinstance_id: "" ×43 + 6.78sINFOobjective_server_node ×43 + 6.82sWARNobjective_server_nodeNot all Objectives could be registered: ×43 + 6.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×44 + 6.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×44 + 6.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788525813.56635475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 6.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788525813.57661963 seconds + 6.85sINFOros2-4process has finished cleanly [pid 7340] + 7.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×3 + 7.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788525814.16313887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 7.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×22 + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866156 ms (missed cycles : 2).[0m + 8.06sWARNros2_control_nodeCamera render tick took 1.89 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 + 8.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788525815.27332282 seconds + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325750 ms (missed cycles : 4).[0m + 9.11sINFOobjective_server_nodeobjective_name: "Open Gripper" ×3 + 9.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788525815.89252138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788525815.95270801 seconds + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278585 ms (missed cycles : 3).[0m + 9.82sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 9.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788525816.62191916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788525816.64204979 seconds + 10.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 10.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788525817.23469448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 10.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788525817.38531303 seconds + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806219 ms (missed cycles : 2).[0m + 11.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" + 11.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788525818.07657313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m + 11.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788525818.12673092 seconds + 11.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178472 ms (missed cycles : 4).[0m + 11.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788525818.72870278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.00sINFOobjective_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 + 12.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 12.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×3 + 12.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×3 + 12.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 12.11sINFOobjective_server_nodeFound path in 0 iterations (2.2734e-05 s). + 12.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 12.13sINFOros2_control_node[2026-09-04 12:43:38.866] [info] Received new action goal + 12.13sINFOros2_control_node[2026-09-04 12:43:38.866] [info] Accepted new action goal + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070201 ms (missed cycles : 5).[0m + 13.86sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085501 ms (missed cycles : 5).[0m + 14.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×38 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). + 14.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.66sINFOros2_control_node[2026-09-04 12:43:41.394] [info] Received new action goal + 14.66sINFOros2_control_node[2026-09-04 12:43:41.394] [info] Accepted new action goal + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039486 ms (missed cycles : 5).[0m + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032019 ms (missed cycles : 5).[0m + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505925 ms (missed cycles : 6).[0m + 18.43sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.327248 ms (missed cycles : 8).[0m + 18.45sINFOros2_control_node[2026-09-04 12:43:45.193] [info] Received new action goal + 18.45sINFOros2_control_node[2026-09-04 12:43:45.193] [info] Accepted new action goal + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016200 ms (missed cycles : 2).[0m + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819906 ms (missed cycles : 5).[0m + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269573 ms (missed cycles : 2).[0m + 21.77sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). + 21.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×5 + 21.80sINFOros2_control_node[2026-09-04 12:43:48.540] [info] Received new action goal + 21.80sINFOros2_control_node[2026-09-04 12:43:48.540] [info] Accepted new action goal + 22.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×7 + 22.27sINFOros2_control_node[2026-09-04 12:43:49.009] [info] Got request to cancel active goal. + 22.27sINFOros2_control_node[2026-09-04 12:43:49.009] [info] Canceling active goal... + 22.28sERRORobjective_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: 1788525829.02190208 seconds + 22.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 22.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 22.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 22.64sWARNros2_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 ×7 + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210194 ms (missed cycles : 4).[0m + 22.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" + 22.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788525829.63529634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 23.10sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). + 23.11sINFOros2_control_node[2026-09-04 12:43:49.849] [info] Received new action goal + 23.11sINFOros2_control_node[2026-09-04 12:43:49.849] [info] Accepted new action goal + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783213 ms (missed cycles : 2).[0m + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398535 ms (missed cycles : 3).[0m + 25.37sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). + 25.37sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.38sINFOros2_control_node[2026-09-04 12:43:52.119] [info] Received new action goal + 25.38sINFOros2_control_node[2026-09-04 12:43:52.119] [info] Accepted new action goal + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078228 ms (missed cycles : 3).[0m + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806910 ms (missed cycles : 3).[0m + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110670 ms (missed cycles : 2).[0m + 28.68sWARNros2_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 ×3 + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419216 ms (missed cycles : 3).[0m + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100943 ms (missed cycles : 2).[0m + 31.21sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×5 + 31.22sINFOobjective_server_nodeFound detection with id: 2, label: %s + 31.51sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). + 31.51sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 31.52sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323250 ms (missed cycles : 4).[0m + 31.55sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). + 31.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] + 31.65sINFOobjective_server_nodeFound path in 1 iterations (0.00312552 s). + 31.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] + 31.90sINFOros2_control_node[2026-09-04 12:43:58.637] [info] Received new action goal + 31.90sINFOros2_control_node[2026-09-04 12:43:58.637] [info] Accepted new action goal + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066844 ms (missed cycles : 2).[0m + 33.27sINFOros2_control_node[2026-09-04 12:44:00.008] [info] Got request to cancel active goal. + 33.27sINFOros2_control_node[2026-09-04 12:44:00.008] [info] Canceling active goal... + 33.30sERRORobjective_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: 1788525840.03875661 seconds + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492114 ms (missed cycles : 4).[0m + 33.93sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" + 34.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788525840.75238729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 34.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788525840.85250783 seconds + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361123 ms (missed cycles : 2).[0m + 34.68sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" + 34.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788525841.47273946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 34.93sINFOobjective_server_nodeFound path in 0 iterations (1.0344e-05 s). + 34.93sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 34.94sINFOros2_control_node[2026-09-04 12:44:01.677] [info] Received new action goal + 34.94sINFOros2_control_node[2026-09-04 12:44:01.677] [info] Accepted new action goal + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037958 ms (missed cycles : 2).[0m + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937001 ms (missed cycles : 3).[0m + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.929181 ms (missed cycles : 6).[0m + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362591 ms (missed cycles : 3).[0m + 39.74sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559360 ms (missed cycles : 3).[0m + 40.02sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 40.02sINFOobjective_server_nodePath shortcutter: [X________X] ×7 + 40.03sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 40.05sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). + 40.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×4 + 40.16sINFOobjective_server_nodeFound path in 1 iterations (0.00277165 s). + 40.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 40.37sINFOros2_control_node[2026-09-04 12:44:07.110] [info] Received new action goal + 40.37sINFOros2_control_node[2026-09-04 12:44:07.110] [info] Accepted new action goal + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201195 ms (missed cycles : 2).[0m + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183613 ms (missed cycles : 2).[0m + 42.67sINFOros2_control_node[2026-09-04 12:44:09.412] [info] Received new action goal + 42.67sINFOros2_control_node[2026-09-04 12:44:09.412] [info] Accepted new action goal + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009326 ms (missed cycles : 2).[0m + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127706 ms (missed cycles : 5).[0m + 44.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 44.45sINFOros2_control_node[2026-09-04 12:44:11.186] [info] Received new action goal + 44.45sINFOros2_control_node[2026-09-04 12:44:11.186] [info] Accepted new action goal + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.087674 ms (missed cycles : 5).[0m + 45.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788525852.47292376 seconds + 46.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" + 46.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788525853.09028912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 46.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788525853.17042136 seconds + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216720 ms (missed cycles : 2).[0m + 47.03sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" + 47.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788525853.82708621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 47.19sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). + 47.20sINFOobjective_server_nodePath shortcutter: [X_____________X] + 47.21sINFOros2_control_node[2026-09-04 12:44:13.951] [info] Received new action goal + 47.21sINFOros2_control_node[2026-09-04 12:44:13.951] [info] Accepted new action goal + 47.50sWARNros2_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 + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891866 ms (missed cycles : 3).[0m + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113155 ms (missed cycles : 2).[0m + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006842 ms (missed cycles : 3).[0m + 50.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 50.56sINFOros2_control_node[2026-09-04 12:44:17.301] [info] Received new action goal + 50.56sINFOros2_control_node[2026-09-04 12:44:17.301] [info] Accepted new action goal + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085242 ms (missed cycles : 2).[0m + 52.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.320064 ms (missed cycles : 5).[0m + 52.91sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). + 52.92sINFOros2_control_node[2026-09-04 12:44:19.659] [info] Received new action goal + 52.92sINFOros2_control_node[2026-09-04 12:44:19.659] [info] Accepted new action goal + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.073740 ms (missed cycles : 7).[0m + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574746 ms (missed cycles : 6).[0m + 55.26sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). + 55.27sINFOros2_control_node[2026-09-04 12:44:22.009] [info] Received new action goal + 55.27sINFOros2_control_node[2026-09-04 12:44:22.009] [info] Accepted new action goal + 55.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.858676 ms (missed cycles : 6).[0m + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862414 ms (missed cycles : 2).[0m + 57.17sINFOros2_control_node[2026-09-04 12:44:23.907] [info] Got request to cancel active goal. + 57.17sINFOros2_control_node[2026-09-04 12:44:23.907] [info] Canceling active goal... + 57.18sERRORobjective_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: 1788525863.92054558 seconds + 57.76sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" + 57.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788525864.56058025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 57.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235673 ms (missed cycles : 4).[0m + 58.01sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). + 58.02sINFOros2_control_node[2026-09-04 12:44:24.754] [info] Received new action goal + 58.02sINFOros2_control_node[2026-09-04 12:44:24.754] [info] Accepted new action goal + 58.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512514 ms (missed cycles : 2).[0m + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897596 ms (missed cycles : 2).[0m + 61.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033007 ms (missed cycles : 2).[0m + 61.74sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). + 61.75sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). + 61.76sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 61.77sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). + 61.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 61.85sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). + 61.95sINFOobjective_server_nodeFound path in 1 iterations (0.00267399 s). + 62.09sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 62.12sINFOobjective_server_nodeFound path in 2 iterations (0.00512682 s). + 62.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075540 ms (missed cycles : 3).[0m + 62.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 62.26sINFOobjective_server_nodeFound path in 1 iterations (0.00361263 s). + 62.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 62.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). + 62.56sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 62.70sINFOros2_control_node[2026-09-04 12:44:29.438] [info] Received new action goal + 62.70sINFOros2_control_node[2026-09-04 12:44:29.438] [info] Accepted new action goal + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296447 ms (missed cycles : 2).[0m + 64.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518335 ms (missed cycles : 6).[0m + 64.95sINFOparameter_manager_nodeRetrieving pose from parameter manager. + 65.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024264 ms (missed cycles : 2).[0m + 65.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 65.22sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server + 65.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788525871.99307585 seconds + 65.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 66.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692777 ms (missed cycles : 3).[0m + 67.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042583 ms (missed cycles : 4).[0m + 68.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752349 ms (missed cycles : 2).[0m + 68.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" + 68.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788525875.62232089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 69.08sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). + 69.09sINFOros2_control_node[2026-09-04 12:44:35.826] [info] Received new action goal + 69.09sINFOros2_control_node[2026-09-04 12:44:35.826] [info] Accepted new action goal + 69.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305671 ms (missed cycles : 2).[0m + 70.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730665 ms (missed cycles : 2).[0m + 71.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027619 ms (missed cycles : 5).[0m + 72.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727980 ms (missed cycles : 2).[0m + 73.14sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). + 73.15sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 73.17sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). + 73.25sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). + 73.35sINFOobjective_server_nodeFound path in 1 iterations (0.00284741 s). + 73.52sINFOobjective_server_nodeFound path in 2 iterations (0.00495464 s). + 73.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743689 ms (missed cycles : 5).[0m + 73.66sINFOobjective_server_nodeFound path in 1 iterations (0.00381972 s). + 73.81sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). + 73.87sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m + 74.10sINFOros2_control_node[2026-09-04 12:44:40.838] [info] Received new action goal + 74.10sINFOros2_control_node[2026-09-04 12:44:40.838] [info] Accepted new action goal + 74.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061473 ms (missed cycles : 2).[0m + 75.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257665 ms (missed cycles : 5).[0m + 76.63sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 76.63sINFOobjective_server_nodePath shortcutter: [X_X] + 76.64sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). + 76.64sINFOobjective_server_nodePath shortcutter: [X______________X] + 76.65sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). + 76.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741485 ms (missed cycles : 2).[0m + 76.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] + 76.78sINFOobjective_server_nodeFound path in 1 iterations (0.00505774 s). + 77.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] + 77.12sINFOros2_control_node[2026-09-04 12:44:43.859] [info] Received new action goal + 77.12sINFOros2_control_node[2026-09-04 12:44:43.859] [info] Accepted new action goal + 77.52sINFOros2_control_node[2026-09-04 12:44:44.261] [info] Received new action goal + 77.52sINFOros2_control_node[2026-09-04 12:44:44.261] [info] Accepted new action goal + 77.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449260 ms (missed cycles : 4).[0m + 78.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 78.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.193862 ms (missed cycles : 5).[0m + 79.26sINFOros2_control_nodeGot request to cancel goal[0m ×15 + 79.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×8 + 79.28sERRORobjective_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: 1788525886.01571822 seconds + 79.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283653 ms (missed cycles : 4).[0m + 79.98sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" + 80.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788525886.84799457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 80.22sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 80.23sINFOros2_control_node[2026-09-04 12:44:46.972] [info] Received new action goal + 80.23sINFOros2_control_node[2026-09-04 12:44:46.972] [info] Accepted new action goal + 81.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266437 ms (missed cycles : 2).[0m + 82.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075307 ms (missed cycles : 2).[0m + 82.74sINFOros2_control_node[2026-09-04 12:44:49.481] [info] Received new action goal + 82.74sINFOros2_control_node[2026-09-04 12:44:49.481] [info] Accepted new action goal + 83.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255212 ms (missed cycles : 2).[0m + 84.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036178 ms (missed cycles : 5).[0m + 84.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m + 85.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940376 ms (missed cycles : 3).[0m + 86.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883023 ms (missed cycles : 3).[0m + 87.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142154 ms (missed cycles : 4).[0m + 88.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482882 ms (missed cycles : 3).[0m + 89.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.954369 ms (missed cycles : 7).[0m + 89.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 90.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419379 ms (missed cycles : 5).[0m + 91.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788525898.04105830 seconds + 91.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059496 ms (missed cycles : 3).[0m + 91.91sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" + 91.96sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788525898.69995713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 92.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 92.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 92.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 92.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788525898.77008533 seconds + 92.57sINFOobjective_server_nodeobjective_name: "Look at Table" + 92.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788525899.36582637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 92.74sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). + 92.75sINFOros2_control_node[2026-09-04 12:44:59.489] [info] Received new action goal + 92.75sINFOros2_control_node[2026-09-04 12:44:59.489] [info] Accepted new action goal + 92.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171063 ms (missed cycles : 2).[0m + 94.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586319 ms (missed cycles : 3).[0m + 94.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788525901.49595857 seconds + 95.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873409 ms (missed cycles : 3).[0m + 96.33sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" + 96.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777510 ms (missed cycles : 3).[0m + 96.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788525903.14421511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.43sWARNros2_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 ×3 + 96.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 + 96.50sINFOobjective_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 + 96.77sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). + 96.77sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 96.83sINFOros2_control_node[2026-09-04 12:45:03.571] [info] Received new action goal + 96.83sINFOros2_control_node[2026-09-04 12:45:03.571] [info] Accepted new action goal + 97.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083406 ms (missed cycles : 5).[0m + 98.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255146 ms (missed cycles : 2).[0m + 99.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624057 ms (missed cycles : 4).[0m + 99.71sINFOros2_control_node[2026-09-04 12:45:06.449] [info] Received new action goal + 99.71sINFOros2_control_node[2026-09-04 12:45:06.449] [info] Accepted new action goal +100.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722577 ms (missed cycles : 2).[0m +101.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.729258 ms (missed cycles : 6).[0m +102.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836112 ms (missed cycles : 5).[0m +102.99sINFOros2_control_node[2026-09-04 12:45:09.728] [info] Received new action goal +102.99sINFOros2_control_node[2026-09-04 12:45:09.728] [info] Accepted new action goal +104.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988255 ms (missed cycles : 2).[0m +105.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377300 ms (missed cycles : 2).[0m +105.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). +106.03sINFOros2_control_node[2026-09-04 12:45:12.771] [info] Received new action goal +106.03sINFOros2_control_node[2026-09-04 12:45:12.771] [info] Accepted new action goal +106.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228992 ms (missed cycles : 5).[0m +107.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327880 ms (missed cycles : 4).[0m +108.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520782 ms (missed cycles : 2).[0m +109.00sINFOobjective_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 +109.00sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +109.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×5 +109.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×5 +109.00sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +109.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289566 ms (missed cycles : 4).[0m +110.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251719 ms (missed cycles : 2).[0m +111.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680708 ms (missed cycles : 2).[0m +112.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875332 ms (missed cycles : 2).[0m +113.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013552 ms (missed cycles : 2).[0m +114.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064494 ms (missed cycles : 2).[0m +115.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360717 ms (missed cycles : 3).[0m +115.81sINFOobjective_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 +115.81sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +115.81sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +116.69sINFOros2_control_node[2026-09-04 12:45:23.427] [info] Received new action goal +116.69sINFOros2_control_node[2026-09-04 12:45:23.427] [info] Accepted new action goal +116.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950428 ms (missed cycles : 3).[0m +117.86sINFOobjective_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 +117.87sINFOobjective_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 +118.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864822 ms (missed cycles : 3).[0m +118.15sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). +118.19sINFOros2_control_node[2026-09-04 12:45:24.931] [info] Received new action goal +118.19sINFOros2_control_node[2026-09-04 12:45:24.931] [info] Accepted new action goal +119.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209794 ms (missed cycles : 5).[0m +120.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199937 ms (missed cycles : 4).[0m +120.36sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). +120.37sINFOros2_control_node[2026-09-04 12:45:27.109] [info] Received new action goal +120.37sINFOros2_control_node[2026-09-04 12:45:27.109] [info] Accepted new action goal +120.61sWARNros2_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 +121.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978806 ms (missed cycles : 5).[0m +122.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729529 ms (missed cycles : 5).[0m +123.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047745 ms (missed cycles : 3).[0m +123.50sINFOros2_control_node[2026-09-04 12:45:30.239] [info] Received new action goal +123.50sINFOros2_control_node[2026-09-04 12:45:30.239] [info] Accepted new action goal +124.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151674 ms (missed cycles : 2).[0m +125.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.709810 ms (missed cycles : 6).[0m +126.09sINFOobjective_server_nodeFound path in 0 iterations (6.54e-07 s). +126.15sINFOros2_control_node[2026-09-04 12:45:32.892] [info] Received new action goal +126.15sINFOros2_control_node[2026-09-04 12:45:32.892] [info] Accepted new action goal +126.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.862217 ms (missed cycles : 9).[0m +126.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m +127.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666715 ms (missed cycles : 5).[0m +128.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401128 ms (missed cycles : 2).[0m +129.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218410 ms (missed cycles : 2).[0m +130.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469300 ms (missed cycles : 2).[0m +132.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125652 ms (missed cycles : 2).[0m +132.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m +133.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882732 ms (missed cycles : 3).[0m +133.87sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m +134.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887668 ms (missed cycles : 2).[0m +135.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184857 ms (missed cycles : 2).[0m +136.81sINFOros2_control_node[2026-09-04 12:45:43.548] [info] Received new action goal +136.81sINFOros2_control_node[2026-09-04 12:45:43.548] [info] Accepted new action goal +136.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257816 ms (missed cycles : 3).[0m +137.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740646 ms (missed cycles : 3).[0m +137.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788525944.70443773 seconds +138.58sINFOobjective_server_nodeobjective_name: "Push Button" +138.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788525945.51838374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +138.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639459 ms (missed cycles : 5).[0m +139.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863184 ms (missed cycles : 2).[0m +140.03sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). +140.05sINFOobjective_server_nodePath shortcutter: [X__________________________X] +140.06sINFOros2_control_node[2026-09-04 12:45:46.803] [info] Received new action goal +140.06sINFOros2_control_node[2026-09-04 12:45:46.803] [info] Accepted new action goal +141.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560672 ms (missed cycles : 4).[0m +142.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790592 ms (missed cycles : 4).[0m +143.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195088 ms (missed cycles : 3).[0m +144.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762060 ms (missed cycles : 2).[0m +145.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042524 ms (missed cycles : 2).[0m +146.18sINFOobjective_server_nodePath shortcutter: [X________________________X] +146.19sINFOros2_control_node[2026-09-04 12:45:52.933] [info] Received new action goal +146.19sINFOros2_control_node[2026-09-04 12:45:52.933] [info] Accepted new action goal +146.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899579 ms (missed cycles : 3).[0m +147.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955587 ms (missed cycles : 5).[0m +148.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.848134 ms (missed cycles : 6).[0m +149.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788525956.53854561 seconds +150.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645714 ms (missed cycles : 2).[0m +150.35sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" +150.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788525957.14529657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +150.59sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). +150.59sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +150.60sINFOros2_control_node[2026-09-04 12:45:57.339] [info] Received new action goal +150.60sINFOros2_control_node[2026-09-04 12:45:57.339] [info] Accepted new action goal +151.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239607 ms (missed cycles : 4).[0m +151.87sINFOobjective_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 +151.87sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +151.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 +152.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297073 ms (missed cycles : 2).[0m +153.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925789 ms (missed cycles : 2).[0m +154.07sINFOros2_control_nodeReceived new action goal[0m ×5089 +154.07sINFOros2_control_nodeAccepted new action goal[0m ×5089 +154.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319832 ms (missed cycles : 2).[0m +155.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432300 ms (missed cycles : 2).[0m +156.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854408 ms (missed cycles : 2).[0m +157.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756228 ms (missed cycles : 2).[0m +157.62sWARNros2_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 +158.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166337 ms (missed cycles : 2).[0m +158.94sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +159.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234160 ms (missed cycles : 5).[0m +160.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594329 ms (missed cycles : 2).[0m +161.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678817 ms (missed cycles : 2).[0m +162.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849055 ms (missed cycles : 2).[0m +163.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910538 ms (missed cycles : 2).[0m +164.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213680 ms (missed cycles : 2).[0m +164.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 +165.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810510 ms (missed cycles : 2).[0m +166.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827677 ms (missed cycles : 2).[0m +167.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856605 ms (missed cycles : 2).[0m +168.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767258 ms (missed cycles : 2).[0m +169.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.696092 ms (missed cycles : 8).[0m +170.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587401 ms (missed cycles : 4).[0m +171.76sWARNros2_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 +172.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416399 ms (missed cycles : 2).[0m +173.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056644 ms (missed cycles : 2).[0m +174.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939484 ms (missed cycles : 2).[0m +175.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688510 ms (missed cycles : 2).[0m +176.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937433 ms (missed cycles : 2).[0m +177.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675396 ms (missed cycles : 2).[0m +178.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729376 ms (missed cycles : 4).[0m +178.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×3 +179.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550167 ms (missed cycles : 3).[0m +180.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889741 ms (missed cycles : 2).[0m +181.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727347 ms (missed cycles : 2).[0m +182.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686150 ms (missed cycles : 2).[0m +183.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141822 ms (missed cycles : 2).[0m +184.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701927 ms (missed cycles : 2).[0m +185.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844998 ms (missed cycles : 2).[0m +186.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534254 ms (missed cycles : 2).[0m +187.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092801 ms (missed cycles : 2).[0m +188.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684985 ms (missed cycles : 2).[0m +189.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769740 ms (missed cycles : 2).[0m +190.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949556 ms (missed cycles : 2).[0m +191.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129525 ms (missed cycles : 2).[0m +191.78sWARNros2_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 +192.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699013 ms (missed cycles : 2).[0m +193.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585574 ms (missed cycles : 2).[0m +193.87sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m +194.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526000.97718930 seconds +194.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" +194.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454697 ms (missed cycles : 4).[0m +194.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788526001.60821867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +195.02sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). +195.02sINFOros2_control_node[2026-09-04 12:46:41.761] [info] Received new action goal +195.02sINFOros2_control_node[2026-09-04 12:46:41.761] [info] Accepted new action goal +195.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363399 ms (missed cycles : 4).[0m +196.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668480 ms (missed cycles : 2).[0m +197.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000958 ms (missed cycles : 2).[0m +198.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855268 ms (missed cycles : 2).[0m +199.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556561 ms (missed cycles : 3).[0m +200.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148759 ms (missed cycles : 3).[0m +202.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884619 ms (missed cycles : 2).[0m +203.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667953 ms (missed cycles : 2).[0m +204.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054083 ms (missed cycles : 2).[0m +205.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686000 ms (missed cycles : 2).[0m +206.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683115 ms (missed cycles : 2).[0m +206.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m +207.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477944 ms (missed cycles : 2).[0m +208.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735906 ms (missed cycles : 2).[0m +209.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700548 ms (missed cycles : 2).[0m +210.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817410 ms (missed cycles : 2).[0m +211.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633542 ms (missed cycles : 2).[0m +212.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807199 ms (missed cycles : 2).[0m +213.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795635 ms (missed cycles : 2).[0m +214.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564009 ms (missed cycles : 2).[0m +215.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268689 ms (missed cycles : 2).[0m +216.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788526023.09508824 seconds +216.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760772 ms (missed cycles : 2).[0m +216.98sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" +217.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788526023.80520391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +217.25sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). +217.25sINFOobjective_server_nodePath shortcutter: [X_____X] +217.27sINFOros2_control_node[2026-09-04 12:47:04.009] [info] Received new action goal +217.27sINFOros2_control_node[2026-09-04 12:47:04.009] [info] Accepted new action goal +217.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736049 ms (missed cycles : 3).[0m +218.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863046 ms (missed cycles : 5).[0m +219.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958521 ms (missed cycles : 5).[0m +220.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079029 ms (missed cycles : 4).[0m +220.87sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). +220.88sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 +220.89sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). +220.99sINFOobjective_server_nodeFound path in 1 iterations (0.00262457 s). +221.19sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +221.20sINFOros2_control_node[2026-09-04 12:47:07.942] [info] Received new action goal +221.20sINFOros2_control_node[2026-09-04 12:47:07.942] [info] Accepted new action goal +221.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708892 ms (missed cycles : 2).[0m +222.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472777 ms (missed cycles : 2).[0m +223.51sINFOros2_control_node[2026-09-04 12:47:10.244] [info] Received new action goal +223.51sINFOros2_control_node[2026-09-04 12:47:10.244] [info] Accepted new action goal +223.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361276 ms (missed cycles : 3).[0m +225.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210448 ms (missed cycles : 2).[0m +225.32sINFOros2_control_node[2026-09-04 12:47:12.058] [info] Received new action goal +225.32sINFOros2_control_node[2026-09-04 12:47:12.059] [info] Accepted new action goal +226.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159478 ms (missed cycles : 3).[0m +226.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788526033.34537625 seconds +227.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745366 ms (missed cycles : 3).[0m +227.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" +227.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788526034.54586220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +227.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +227.99sINFOros2_control_node[2026-09-04 12:47:14.730] [info] Received new action goal +227.99sINFOros2_control_node[2026-09-04 12:47:14.730] [info] Accepted new action goal +228.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801922 ms (missed cycles : 2).[0m +229.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.676552 ms (missed cycles : 5).[0m +229.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +230.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443368 ms (missed cycles : 2).[0m +231.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349706 ms (missed cycles : 3).[0m +232.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479771 ms (missed cycles : 2).[0m +233.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617015 ms (missed cycles : 5).[0m +235.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092659 ms (missed cycles : 5).[0m +236.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.245835 ms (missed cycles : 5).[0m +237.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388591 ms (missed cycles : 4).[0m +238.17sERRORobjective_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: 1788526044.90629315 seconds +238.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380346 ms (missed cycles : 3).[0m +238.71sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" +238.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788526045.51496029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +239.05sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). +239.07sINFOros2_control_node[2026-09-04 12:47:25.809] [info] Received new action goal +239.07sINFOros2_control_node[2026-09-04 12:47:25.809] [info] Accepted new action goal +239.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553341 ms (missed cycles : 3).[0m +240.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496946 ms (missed cycles : 2).[0m +241.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165542 ms (missed cycles : 2).[0m +242.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781894 ms (missed cycles : 2).[0m +243.08sINFOros2_control_node[2026-09-04 12:47:29.822] [info] Received new action goal +243.08sINFOros2_control_node[2026-09-04 12:47:29.822] [info] Accepted new action goal +243.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794407 ms (missed cycles : 2).[0m +244.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011166 ms (missed cycles : 2).[0m +245.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984211 ms (missed cycles : 4).[0m +247.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210376 ms (missed cycles : 5).[0m +248.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698662 ms (missed cycles : 4).[0m +248.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788526055.40757442 seconds +249.26sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" +249.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788526056.05995727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +249.45sINFOros2_control_node[2026-09-04 12:47:36.194] [info] Received new action goal +249.46sINFOros2_control_node[2026-09-04 12:47:36.194] [info] Accepted new action goal +249.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.092882 ms (missed cycles : 6).[0m +250.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212301 ms (missed cycles : 2).[0m +251.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096036 ms (missed cycles : 2).[0m +252.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886706 ms (missed cycles : 3).[0m +253.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782077 ms (missed cycles : 2).[0m +253.87sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m +254.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m +254.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596705 ms (missed cycles : 3).[0m +255.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266349 ms (missed cycles : 2).[0m +256.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796381 ms (missed cycles : 5).[0m +257.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918960 ms (missed cycles : 3).[0m +259.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911700 ms (missed cycles : 3).[0m +259.67sERRORobjective_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: 1788526066.41033459 seconds +259.70sWARNros2_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 +260.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501876 ms (missed cycles : 2).[0m +260.21sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" +260.26sERRORobjective_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? +260.26sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo +260.26sINFOobjective_server_nodeThere were other errors that might be related to this failure: +260.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" +261.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788526067.76939154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +261.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.431172 ms (missed cycles : 6).[0m +261.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788526067.83951521 seconds +261.65sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" +261.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788526068.43951321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +261.73sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' +261.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788526068.47198176 seconds +262.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.045224 ms (missed cycles : 5).[0m +262.38sINFOobjective_server_nodeobjective_name: "Stationary Admittance" +262.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788526069.17425442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +262.54sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). +262.56sINFOros2_control_node[2026-09-04 12:47:49.290] [info] Received new action goal +262.56sINFOros2_control_node[2026-09-04 12:47:49.290] [info] Accepted new action goal +263.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864307 ms (missed cycles : 5).[0m +264.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987766 ms (missed cycles : 3).[0m +265.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.407354 ms (missed cycles : 6).[0m +265.87sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +265.87sINFOros2_control_node[2026-09-04 12:47:52.608] [info] Received new action goal +265.87sINFOros2_control_node[2026-09-04 12:47:52.608] [info] Accepted new action goal +265.87sINFOros2_control_node[2026-09-04 12:47:52.608] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +266.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.262544 ms (missed cycles : 8).[0m +267.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345426 ms (missed cycles : 3).[0m +268.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038316 ms (missed cycles : 2).[0m +269.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310917 ms (missed cycles : 5).[0m +270.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316460 ms (missed cycles : 2).[0m +272.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678922 ms (missed cycles : 4).[0m +272.67sINFOros2_control_node[2026-09-04 12:47:59.404] [info] Got request to cancel active goal. +272.67sINFOros2_control_node[2026-09-04 12:47:59.404] [info] Canceling active goal... +272.67sERRORobjective_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: 1788526079.40894628 seconds +273.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298465 ms (missed cycles : 2).[0m +273.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" +273.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788526080.02332401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +273.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788526080.55343032 seconds +274.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744399 ms (missed cycles : 3).[0m +274.36sINFOobjective_server_nodeobjective_name: "Vector and String Example" +274.41sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788526081.15077424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +274.41sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +274.41sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +274.41sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +274.41sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788526081.15263009 seconds +274.95sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" +275.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788526081.75171947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +275.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788526081.75217843 seconds +275.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771066 ms (missed cycles : 3).[0m +275.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +275.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788526082.34498596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +276.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324959 ms (missed cycles : 2).[0m +276.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788526083.71512341 seconds +277.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +277.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.096578 ms (missed cycles : 5).[0m +278.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321175 ms (missed cycles : 5).[0m +279.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.482235 ms (missed cycles : 6).[0m +280.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.329786 ms (missed cycles : 5).[0m +281.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528578 ms (missed cycles : 2).[0m +282.58sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.58sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.58sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.58sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.58sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +282.59sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.59sERRORweb_video_auth_proxy-23process has died [pid 7456, 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']. +282.59sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.60sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.60sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.60sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +282.60sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +282.60sERRORweb_bridge_auth_proxy-22process has died [pid 7455, 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']. +282.60sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +282.60sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +282.61sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +282.61sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +282.61sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +282.62sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +282.63sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +282.63sINFOvideo_server-21process has finished cleanly [pid 7454] +282.63sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +282.64sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +282.64sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +282.65sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +282.65sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +282.66sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +282.66sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +282.66sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +282.66sINFOvideo_server2026/09/04 12:48:09 INF shutting down gracefully +282.66sINFOvideo_server2026/09/04 12:48:09 INF [WebRTC] closing +282.66sINFOvideo_server2026/09/04 12:48:09 INF [RTSP] closing +282.66sINFOvideo_server2026/09/04 12:48:09 INF waiting for running hooks +282.66sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +282.67sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +282.67sWARNparameter_manager_nodeROS node was shutdown. +282.67sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +282.67sERRORmove_groupwhat(): context cannot be slept with because it's invalid +282.67sERRORmove_groupStack trace (most recent call last) in thread 7813: +282.67sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +282.67sINFOros2_control_nodeShutdown request received....[0m +282.67sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +282.67sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +282.67sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +282.67sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +282.67sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +282.67sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +282.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +282.67sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +282.67sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +282.67sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +282.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +282.67sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +282.67sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +282.67sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +282.67sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7e7a8aa63, in __clone +282.67sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7e79fdaa3, in +282.67sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +282.67sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +282.67sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +282.67sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +282.67sINFOros2_control_nodeShutting down the controller manager.[0m +282.67sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +282.67sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7e7c8fdb3, in +282.67sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fd7e83f4a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +282.67sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd7e8021620, in rclcpp::Rate::sleep() +282.67sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd7e7f63d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +282.67sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd7e7f25087, in +282.67sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7e7c5e390, in __cxa_throw +282.67sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7e7c48a54, in std::terminate() +282.67sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7e7c5e0d9, in +282.68sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd7e7c48ff4, in +282.68sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7e79898fe, in abort +282.68sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7e79a627d, in raise +282.68sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd7e79ffb2c, in pthread_kill +282.68sERRORmove_groupAborted (Signal sent by tkill() 7375 0) +282.68sERRORmove_group-9process has died [pid 7375, 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_uytg8nv0 --params-file /tmp/launch_params_o6oeanxq --params-file /tmp/launch_params_jivcll67 --params-file /tmp/launch_params_zd79sabj --params-file /tmp/launch_params_j2egs0er --params-file /tmp/launch_params_rd0tsyn7']. +282.87sINFOros2_control_nodeAsync messages lost 0[0m ×2 +282.87sINFOros2_control_nodepublish_async_failures_ 1[0m +282.88sINFOros2_control_nodepublish_async_failures_ 3[0m +283.67sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7453] +283.67sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +283.68sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7381] +283.68sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7380] +283.72sINFOparameter_manager_node-10process has finished cleanly [pid 7378] +283.72sINFOexecute_objective_bridge-17process has finished cleanly [pid 7385] +283.73sINFOwaypoint_manager_node-11process has finished cleanly [pid 7379] +283.73sINFOcomponent_container_mt-16process has finished cleanly [pid 7384] +283.74sINFOui_teleop_bridge-18process has finished cleanly [pid 7386] +283.79sINFOobjective_server_node[0;m[2026-09-04 12:48:10.526] [moveit_pro_license] [critical] +283.79sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +283.92sINFOobjective_server_node_main-14process has finished cleanly [pid 7382] +283.92sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +284.82sINFOcomponent_container_mt-15process has finished cleanly [pid 7383] +284.94sINFOweb_bridge-19process has finished cleanly [pid 7387] +284.94sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +285.30sINFOros2_control_node-1process has finished cleanly [pid 7326] +288.66sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-12-48-15-016803-d8d34dadd4fb-8572 ×2 +289.29sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +289.30sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +289.30sINFOcontroller_managerupdate rate is 600 Hz +289.30sINFOcontroller_managerOverruns handling is : enabled +289.30sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +289.30sWARNcontroller_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. +289.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383176 ms (missed cycles : 4). +289.50sINFOros2_control_node-1process started with pid [8620] ×2 +289.50sINFOmove_group-9process started with pid [8671] ×2 +289.50sINFOparameter_manager_node-10process started with pid [8672] ×2 +289.50sINFOwaypoint_manager_node-11process started with pid [8673] ×2 +289.50sINFOmove_joint_resampler_node-12process started with pid [8674] ×2 +289.50sINFOmove_end_effector_resampler_node-13process started with pid [8675] ×2 +289.50sINFOobjective_server_node_main-14process started with pid [8676] ×2 +289.50sINFOcomponent_container_mt-15process started with pid [8677] ×2 +289.50sINFOcomponent_container_mt-16process started with pid [8678] ×2 +289.50sINFOexecute_objective_bridge-17process started with pid [8679] ×2 +289.50sINFOui_teleop_bridge-18process started with pid [8680] ×2 +289.50sINFOweb_bridge-19process started with pid [8681] ×2 +289.50sINFOtf2_web_republisher_node-20process started with pid [8745] ×2 +289.50sINFOvideo_server-21process started with pid [8746] ×2 +289.50sINFOweb_bridge_auth_proxy-22process started with pid [8747] ×2 +289.50sINFOweb_video_auth_proxy-23process started with pid [8748] ×2 +289.51sINFOros2-2process started with pid [8621] ×2 +289.51sINFOros2-3process started with pid [8622] ×2 +289.51sINFOros2-4process started with pid [8623] ×2 +289.51sINFOros2-5process started with pid [8624] ×2 +289.51sINFOros2-6process started with pid [8625] ×2 +289.51sINFOros2-7process started with pid [8626] ×2 +289.51sINFOros2-8process started with pid [8627] ×2 +289.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383176 ms (missed cycles : 4).[0m ×2 +289.55sINFOcontroller_managerReceived robot description from topic. +289.55sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +289.57sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +289.92sINFOvideo_server2026/09/04 12:48:16 INF MediaMTX v1.20.1, linux, amd64 ×2 +289.92sINFOvideo_server2026/09/04 12:48:16 INF configuration loaded from /tmp/moveit-webrtc-xxnsm97b/mediamtx.yml ×2 +289.92sINFOvideo_server2026/09/04 12:48:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +289.92sINFOvideo_server2026/09/04 12:48:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +290.16sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +290.56sINFOmove_group[2026-09-04 12:48:17.296] [moveit_pro_license] [info] ×2 +290.58sINFOwaypoint_manager_node[2026-09-04 12:48:17.316] [moveit_pro_license] [info] ×2 +290.61sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +290.61sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +290.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200265 ms (missed cycles : 2). +290.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200265 ms (missed cycles : 2).[0m ×2 +292.18sINFOobjective_server_node[2026-09-04 12:48:18.922] [moveit_pro_license] [info] ×2 +292.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +292.45sINFOcontroller_managerActivating component 'ur_mujoco_control'. +292.45sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +292.45sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +292.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +292.66sINFOcontroller_managerLoading controller 'velocity_force_controller' +292.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +292.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +292.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991841 ms (missed cycles : 2). +292.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991841 ms (missed cycles : 2).[0m ×2 +292.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +292.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +292.81sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +292.83sINFOros2_control_node[2026-09-04 12:48:19.569] [info] Controller state will be published at 10 Hz. ×2 +292.83sINFOros2_control_node[2026-09-04 12:48:19.570] [info] VelocityForceController 'on_configure' succeeded. ×2 +292.86sINFOcomponent_container_mt[2026-09-04 12:48:19.596] [moveit_pro_license] [info] ×2 +293.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +293.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +293.09sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +293.09sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +293.10sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +293.14sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +293.14sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +293.14sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +293.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +293.14sINFOros2-7process has finished cleanly [pid 8626] ×2 +293.15sINFOcontroller_managerSuccessfully switched controllers! ×16 +293.15sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +293.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +293.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' +293.48sINFOros2-3process has finished cleanly [pid 8622] ×2 +293.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +293.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +293.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +293.55sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +293.57sINFOros2_control_node[2026-09-04 12:48:20.310] [info] Controller state will be published at 20 Hz. ×2 +293.57sINFOros2_control_node[2026-09-04 12:48:20.311] [info] JointVelocityController 'on_configure' succeeded. ×2 +293.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +293.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +293.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +293.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +293.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126412 ms (missed cycles : 2). +293.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126412 ms (missed cycles : 2).[0m ×2 +293.83sINFOros2-8process has finished cleanly [pid 8627] ×2 +293.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +293.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +293.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +293.86sINFOjoint_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. +293.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +293.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +294.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +294.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +294.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +294.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +294.18sINFOros2-5process has finished cleanly [pid 8624] ×2 +294.19sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +294.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +294.19sINFOforce_torque_sensor_broadcasterconfigure successful +294.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +294.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +294.52sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +294.52sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +294.54sINFOros2-2process has finished cleanly [pid 8621] ×2 +294.58sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +294.58sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +294.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +294.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +294.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +294.62sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +294.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +294.62sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +294.63sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +294.65sINFOros2_control_node[2026-09-04 12:48:21.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 +294.65sINFOros2_control_node[2026-09-04 12:48:21.388] [info] Controller state will be published at 50 Hz. ×2 +294.65sINFOros2_control_node[2026-09-04 12:48:21.393] [info] Registered `FollowJointTrajectory` action server. ×2 +294.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +294.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +294.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2). +294.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2).[0m ×2 +294.99sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +294.99sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +294.99sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l +294.99sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 +295.02sINFOros2-6process has finished cleanly [pid 8625] ×2 +295.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +295.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +295.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +295.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +295.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +295.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+295.25sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 +295.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +295.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 +295.38sINFOros2-4process has finished cleanly [pid 8623] ×2 +295.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+295.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +295.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +296.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). +296.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 +296.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 +297.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). +297.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 +297.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+297.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +297.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 +297.89sWARNros2_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 +298.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). +298.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 +298.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+298.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +298.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 +298.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+298.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +299.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 +299.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). +299.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ 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 + 0.05sWARNobjective_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 25: -> 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 44: -> 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 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 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 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 ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.34sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 7.34sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 44 warnings · 416 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 25: -> 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 44: -> 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 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 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.18sINFOros2-4process has finished cleanly [pid 8623] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 2.69sWARNros2_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 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_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 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.39sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 7.27sINFOros2_control_nodeMuJoCo sim: 0.28% 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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 13 warnings · 243 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/2026-09-04-12-48-15-016803-d8d34dadd4fb-8572 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.65sINFOcontroller_managerupdate rate is 600 Hz + 0.65sINFOcontroller_managerOverruns handling is : enabled + 0.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.65sWARNcontroller_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. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383176 ms (missed cycles : 4). + 0.84sINFOros2_control_node-1process started with pid [8620] ×2 + 0.84sINFOmove_group-9process started with pid [8671] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [8672] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [8673] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [8674] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [8675] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [8676] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [8677] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [8678] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [8679] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [8680] ×2 + 0.84sINFOweb_bridge-19process started with pid [8681] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [8745] ×2 + 0.84sINFOvideo_server-21process started with pid [8746] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [8747] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [8748] ×2 + 0.86sINFOros2-2process started with pid [8621] ×2 + 0.86sINFOros2-3process started with pid [8622] ×2 + 0.86sINFOros2-4process started with pid [8623] ×2 + 0.86sINFOros2-5process started with pid [8624] ×2 + 0.86sINFOros2-6process started with pid [8625] ×2 + 0.86sINFOros2-7process started with pid [8626] ×2 + 0.86sINFOros2-8process started with pid [8627] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383176 ms (missed cycles : 4).[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.26sINFOvideo_server2026/09/04 12:48:16 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.27sINFOvideo_server2026/09/04 12:48:16 INF configuration loaded from /tmp/moveit-webrtc-xxnsm97b/mediamtx.yml ×2 + 1.27sINFOvideo_server2026/09/04 12:48:16 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.27sINFOvideo_server2026/09/04 12:48:16 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.50sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.90sINFOmove_group[2026-09-04 12:48:17.296] [moveit_pro_license] [info] ×2 + 1.90sINFOmove_group************************************************* ×4 + 1.90sINFOmove_group* MoveIt Pro License ×2 + 1.90sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.92sINFOwaypoint_manager_node[2026-09-04 12:48:17.316] [moveit_pro_license] [info] ×2 + 1.92sINFOwaypoint_manager_node************************************************* ×4 + 1.92sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 1.92sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.96sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.96sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.96sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.97sINFOros2_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 + 1.97sINFOros2_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 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200265 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200265 ms (missed cycles : 2).[0m ×2 + 2.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.15sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.35sINFOmove_group ×4 + 2.35sINFOmove_group[92mYou can start planning now![0m ×2 + 3.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_server_node[2026-09-04 12:48:18.922] [moveit_pro_license] [info] ×2 + 3.53sINFOobjective_server_node************************************************* ×4 + 3.53sINFOobjective_server_node* MoveIt Pro License ×2 + 3.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.64sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.64sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.66sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.66sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.79sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.79sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.79sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.79sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.79sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.79sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.79sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.79sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.79sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.79sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.79sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.79sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.79sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.01sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.01sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.01sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.01sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 44 warnings · 501 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8621] ×2 + 0.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 12:48:21.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.57sINFOros2-6process has finished cleanly [pid 8625] ×2 + 0.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.57sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.58sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.59sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.79sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.79sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 0.92sINFOros2-4process has finished cleanly [pid 8623] ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 3.43sWARNros2_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 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 44 warnings · 501 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8621] ×2 + 0.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 12:48:21.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.57sINFOros2-6process has finished cleanly [pid 8625] ×2 + 0.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.57sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.58sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.59sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.79sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.79sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 0.92sINFOros2-4process has finished cleanly [pid 8623] ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 3.43sWARNros2_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 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 44 warnings · 501 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8621] ×2 + 0.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_node[2026-09-04 12:48:21.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.19sINFOros2_control_node[2026-09-04 12:48:21.388] [info] Controller state will be published at 50 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-04 12:48:21.393] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725098 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l + 0.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_i40kakpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f2v3e53s --params-file /tmp/launch_params_d9yoro6l [0m ×2 + 0.57sINFOros2-6process has finished cleanly [pid 8625] ×2 + 0.57sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.57sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.57sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.58sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.59sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.79sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.79sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.79sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 0.92sINFOros2-4process has finished cleanly [pid 8623] ×2 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 3.43sWARNros2_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 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 41 warnings · 411 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 25: -> 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 44: -> 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788526101.99434352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788526102.00456119 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 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 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.18sINFOros2-4process has finished cleanly [pid 8623] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 2.69sWARNros2_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 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_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 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.39sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 41 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 + 0.05sWARNobjective_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 25: -> 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 44: -> 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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788526102.60447860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317356 ms (missed cycles : 5).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 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 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 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 ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.64sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [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 | 40 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972508 ms (missed cycles : 3).[0m ×2 + 7.10sWARNros2_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 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [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 | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 35 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788526103.71468997 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919427 ms (missed cycles : 5).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sWARNobjective_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 25: -> 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 44: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 44: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788526104.33290172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788526104.39310145 seconds ×3 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376931 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788526105.05934763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788526105.07948446 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788526105.67679596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788526105.82734370 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386439 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788526106.53742766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788526106.58768415 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895940 ms (missed cycles : 6).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788526107.19197559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_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 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.4502e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-04 12:48:27.328] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255249 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011823 ms (missed cycles : 2).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.15sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Received new action goal ×2 + 6.18sINFOros2_control_node[2026-09-04 12:48:29.896] [info] Accepted new action goal ×2 | ||||