124
Total objective tests
33
Objectives passed
0
Objectives failed
91
Objectives skipped
9.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass58 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 166 warnings · 21144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331196 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331196 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186226 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186226 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077758 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077758 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692399 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692399 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788528042.58793759 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788528043.19620156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.00sINFOros2_control_node[2026-09-04 13:20:43.369] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:20:43.369] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985410 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985410 ms (missed cycles : 5).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138818 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138818 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906909 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906909 ms (missed cycles : 2).[0m ×2 + 7.34sINFOjoint_trajectory_controllerReceived new action goal ×3480 + 7.34sINFOjoint_trajectory_controllerAccepted new action goal ×3480 + 7.34sINFOros2_control_nodeReceived new action goal[0m ×6960 + 7.34sINFOros2_control_nodeAccepted new action goal[0m ×6960 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294919 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294919 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672834 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672834 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661708 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661708 ms (missed cycles : 3).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876834 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876834 ms (missed cycles : 2).[0m ×2 + 12.32sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.32sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362480 ms (missed cycles : 5). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362480 ms (missed cycles : 5).[0m ×2 + 12.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×4 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770403 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770403 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745655 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745655 ms (missed cycles : 2).[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873640 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873640 ms (missed cycles : 2).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271760 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271760 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796240 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796240 ms (missed cycles : 2).[0m ×2 + 18.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427480 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427480 ms (missed cycles : 2).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469241 ms (missed cycles : 3). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469241 ms (missed cycles : 3).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346381 ms (missed cycles : 3). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346381 ms (missed cycles : 3).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664307 ms (missed cycles : 3). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664307 ms (missed cycles : 3).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836871 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836871 ms (missed cycles : 2).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629049 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629049 ms (missed cycles : 3).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274195 ms (missed cycles : 3). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274195 ms (missed cycles : 3).[0m ×2 + 25.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037505 ms (missed cycles : 2). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037505 ms (missed cycles : 2).[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219793 ms (missed cycles : 4). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.219793 ms (missed cycles : 4).[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877824 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877824 ms (missed cycles : 2).[0m ×2 + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773596 ms (missed cycles : 2). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773596 ms (missed cycles : 2).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524110 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524110 ms (missed cycles : 2).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367571 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367571 ms (missed cycles : 2).[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167476 ms (missed cycles : 2). + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167476 ms (missed cycles : 2).[0m ×2 + 32.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627527 ms (missed cycles : 2). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627527 ms (missed cycles : 2).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568186 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568186 ms (missed cycles : 2).[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993368 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993368 ms (missed cycles : 2).[0m ×2 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092685 ms (missed cycles : 2). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092685 ms (missed cycles : 2).[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695763 ms (missed cycles : 2). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695763 ms (missed cycles : 2).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845178 ms (missed cycles : 2). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845178 ms (missed cycles : 2).[0m ×2 + 39.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.030472 ms (missed cycles : 9). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.030472 ms (missed cycles : 9).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041638 ms (missed cycles : 2). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041638 ms (missed cycles : 2).[0m ×2 + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676361 ms (missed cycles : 2). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676361 ms (missed cycles : 2).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775542 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775542 ms (missed cycles : 2).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115976 ms (missed cycles : 2). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115976 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746241 ms (missed cycles : 2). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746241 ms (missed cycles : 2).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857166 ms (missed cycles : 7). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857166 ms (missed cycles : 7).[0m ×2 + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417941 ms (missed cycles : 2). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417941 ms (missed cycles : 2).[0m ×2 + 47.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528087.00891852 seconds ×3 + 47.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132905 ms (missed cycles : 2). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132905 ms (missed cycles : 2).[0m ×2 + 48.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 48.18sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.26sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788528087.63883901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.41sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 48.42sINFOros2_control_node[2026-09-04 13:21:27.792] [info] Received new action goal ×2 + 48.42sINFOros2_control_node[2026-09-04 13:21:27.792] [info] Accepted new action goal ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848175 ms (missed cycles : 3). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848175 ms (missed cycles : 3).[0m ×2 + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639674 ms (missed cycles : 3). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639674 ms (missed cycles : 3).[0m ×2 + 50.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178240 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178240 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×6 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 7.09sINFOros2_control_node[2026-09-04 13:19:52.557] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-04 13:19:52.557] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147024 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147024 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304854 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304854 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038326 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038326 ms (missed cycles : 3).[0m ×2 + 10.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.36sINFOros2_control_node[2026-09-04 13:19:55.826] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-04 13:19:55.826] [info] Accepted new action goal ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138559 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138559 ms (missed cycles : 3).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715505 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715505 ms (missed cycles : 2).[0m ×2 + 11.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819711 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819711 ms (missed cycles : 3).[0m ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.39sINFOros2_control_node[2026-09-04 13:19:58.859] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-09-04 13:19:58.859] [info] Accepted new action goal ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195445 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195445 ms (missed cycles : 3).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359835 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359835 ms (missed cycles : 3).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305185 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305185 ms (missed cycles : 4).[0m ×2 + 16.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.35sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344949 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344949 ms (missed cycles : 4).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591867 ms (missed cycles : 5). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591867 ms (missed cycles : 5).[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069049 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069049 ms (missed cycles : 3).[0m ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680400 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680400 ms (missed cycles : 2).[0m ×2 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895684 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895684 ms (missed cycles : 2).[0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825072 ms (missed cycles : 2). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825072 ms (missed cycles : 2).[0m ×2 + 23.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.14sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.14sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013452 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013452 ms (missed cycles : 2).[0m ×2 + 24.02sINFOros2_control_node[2026-09-04 13:20:09.486] [info] Received new action goal ×2 + 24.02sINFOros2_control_node[2026-09-04 13:20:09.486] [info] Accepted new action goal ×2 + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633530 ms (missed cycles : 4). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633530 ms (missed cycles : 4).[0m ×2 + 24.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 25.19sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.48sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 25.48sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.52sINFOros2_control_node[2026-09-04 13:20:10.989] [info] Received new action goal ×2 + 25.52sINFOros2_control_node[2026-09-04 13:20:10.989] [info] Accepted new action goal ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305088 ms (missed cycles : 2). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305088 ms (missed cycles : 2).[0m ×2 + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651909 ms (missed cycles : 4). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651909 ms (missed cycles : 4).[0m ×2 + 27.64sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 27.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.65sINFOros2_control_node[2026-09-04 13:20:13.117] [info] Received new action goal ×2 + 27.65sINFOros2_control_node[2026-09-04 13:20:13.117] [info] Accepted new action goal ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769768 ms (missed cycles : 3). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769768 ms (missed cycles : 3).[0m ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756788 ms (missed cycles : 2). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756788 ms (missed cycles : 2).[0m ×2 + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115287 ms (missed cycles : 2). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115287 ms (missed cycles : 2).[0m ×2 + 30.78sINFOros2_control_node[2026-09-04 13:20:16.246] [info] Received new action goal ×2 + 30.78sINFOros2_control_node[2026-09-04 13:20:16.246] [info] Accepted new action goal ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874871 ms (missed cycles : 4). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874871 ms (missed cycles : 4).[0m ×2 + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477315 ms (missed cycles : 6). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477315 ms (missed cycles : 6).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489000 ms (missed cycles : 2). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489000 ms (missed cycles : 2).[0m ×2 + 33.37sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 33.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.43sINFOros2_control_node[2026-09-04 13:20:18.890] [info] Received new action goal ×2 + 33.43sINFOros2_control_node[2026-09-04 13:20:18.890] [info] Accepted new action goal ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871280 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871280 ms (missed cycles : 2).[0m ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693492 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693492 ms (missed cycles : 2).[0m ×2 + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249600 ms (missed cycles : 3). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249600 ms (missed cycles : 3).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279010 ms (missed cycles : 5). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279010 ms (missed cycles : 5).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196586 ms (missed cycles : 4). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196586 ms (missed cycles : 4).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554045 ms (missed cycles : 4). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554045 ms (missed cycles : 4).[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721044 ms (missed cycles : 2). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721044 ms (missed cycles : 2).[0m ×2 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826481 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826481 ms (missed cycles : 3).[0m ×2 + 42.17sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012530 ms (missed cycles : 3). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012530 ms (missed cycles : 3).[0m ×2 + 42.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110204 ms (missed cycles : 6). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110204 ms (missed cycles : 6).[0m ×2 + 44.20sINFOros2_control_node[2026-09-04 13:20:29.666] [info] Received new action goal ×2 + 44.20sINFOros2_control_node[2026-09-04 13:20:29.666] [info] Accepted new action goal ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542185 ms (missed cycles : 7). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542185 ms (missed cycles : 7).[0m ×2 + 45.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788528030.82266474 seconds ×3 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709271 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709271 ms (missed cycles : 2).[0m ×2 + 45.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.95sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.15sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788528031.61778426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608050 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608050 ms (missed cycles : 2).[0m ×2 + 47.37sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 47.38sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.40sINFOros2_control_node[2026-09-04 13:20:32.862] [info] Received new action goal ×2 + 47.40sINFOros2_control_node[2026-09-04 13:20:32.862] [info] Accepted new action goal ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764540 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764540 ms (missed cycles : 2).[0m ×2 + 48.57sWARNros2_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 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951998 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951998 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 36.4s | 3 errors · 142 warnings · 324 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918162 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918162 ms (missed cycles : 5).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836447 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836447 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789900 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789900 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sERRORobjective_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: 1788528152.51495767 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905563 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905563 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.57sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.57sINFOobjective_server_nodecaller: ×8 + 3.57sINFOobjective_server_nodetype: 0 ×8 + 3.57sINFOobjective_server_nodename: "" ×8 + 3.57sINFOobjective_server_nodeinstance_id: "" ×8 + 3.57sINFOobjective_server_node ×8 + 3.64sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1788528153.13655615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.95sINFOros2_control_node[2026-09-04 13:22:34.441] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-04 13:22:34.441] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305240 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305240 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164525 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164525 ms (missed cycles : 4).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682229 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682229 ms (missed cycles : 2).[0m ×2 + 8.00sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated and will be removed in a future release. Wire the trajectory_timing port instead to select the timing algorithm and its parameters. ×6 + 8.00sINFOobjective_server_nodePlanning for 64 path waypoints. ×6 + 8.04sINFOros2_control_node[2026-09-04 13:22:37.534] [info] Received new action goal ×2 + 8.04sINFOros2_control_node[2026-09-04 13:22:37.534] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844108 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844108 ms (missed cycles : 5).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369657 ms (missed cycles : 5). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369657 ms (missed cycles : 5).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915369 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915369 ms (missed cycles : 4).[0m ×2 + 11.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458708 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458708 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.302175 ms (missed cycles : 5). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.302175 ms (missed cycles : 5).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125427 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125427 ms (missed cycles : 2).[0m ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831453 ms (missed cycles : 2). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831453 ms (missed cycles : 2).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627836 ms (missed cycles : 6). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627836 ms (missed cycles : 6).[0m ×2 + 16.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991008 ms (missed cycles : 3). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991008 ms (missed cycles : 3).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341683 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341683 ms (missed cycles : 2).[0m ×2 + 19.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 19.25sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 19.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 19.27sINFOros2_control_node[2026-09-04 13:22:48.761] [info] Received new action goal ×2 + 19.27sINFOros2_control_node[2026-09-04 13:22:48.761] [info] Accepted new action goal ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647304 ms (missed cycles : 4). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647304 ms (missed cycles : 4).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.065372 ms (missed cycles : 7). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.065372 ms (missed cycles : 7).[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854185 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854185 ms (missed cycles : 2).[0m ×2 + 22.99sINFOros2_control_node[2026-09-04 13:22:52.485] [info] Received new action goal ×2 + 22.99sINFOros2_control_node[2026-09-04 13:22:52.485] [info] Accepted new action goal ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699337 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699337 ms (missed cycles : 3).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766262 ms (missed cycles : 3). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766262 ms (missed cycles : 3).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680738 ms (missed cycles : 5). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680738 ms (missed cycles : 5).[0m ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868151 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868151 ms (missed cycles : 2).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196679 ms (missed cycles : 6). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196679 ms (missed cycles : 6).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329767 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329767 ms (missed cycles : 2).[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304658 ms (missed cycles : 4). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304658 ms (missed cycles : 4).[0m ×2 + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976413 ms (missed cycles : 5). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976413 ms (missed cycles : 5).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354067 ms (missed cycles : 5). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354067 ms (missed cycles : 5).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980207 ms (missed cycles : 5). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980207 ms (missed cycles : 5).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786512 ms (missed cycles : 6). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.786512 ms (missed cycles : 6).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976738 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976738 ms (missed cycles : 2).[0m ×2 + 35.75sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 35.76sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 35.77sINFOros2_control_node[2026-09-04 13:23:05.261] [info] Received new action goal ×2 + 35.77sINFOros2_control_node[2026-09-04 13:23:05.261] [info] Accepted new action goal ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 39.44sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 39.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 40.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 40.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 40.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 40.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 40.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 40.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 40.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.78sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 40.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.86sINFOobjective_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 + 40.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 41.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.52sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 41.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.68sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 41.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 41.69sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 41.69sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 42.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 42.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[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 | 94 warnings · 14634 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2406 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2406 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4812 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4812 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746241 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746241 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857166 ms (missed cycles : 7). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857166 ms (missed cycles : 7).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417941 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417941 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528087.00891852 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132905 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132905 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_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: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.87sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788528087.63883901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.02sINFOros2_control_node[2026-09-04 13:21:27.792] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-04 13:21:27.792] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848175 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848175 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639674 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639674 ms (missed cycles : 3).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178240 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178240 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105185 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105185 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217399 ms (missed cycles : 4). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217399 ms (missed cycles : 4).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939163 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939163 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811182 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811182 ms (missed cycles : 3).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353218 ms (missed cycles : 6). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.353218 ms (missed cycles : 6).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967910 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967910 ms (missed cycles : 2).[0m ×2 + 13.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979912 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979912 ms (missed cycles : 3).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237917 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237917 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672471 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672471 ms (missed cycles : 2).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211129 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211129 ms (missed cycles : 2).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693175 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693175 ms (missed cycles : 2).[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775622 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775622 ms (missed cycles : 2).[0m ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052558 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052558 ms (missed cycles : 2).[0m ×2 + 20.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254346 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254346 ms (missed cycles : 2).[0m ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 25.97sINFOobjective_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: ""
+ 25.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.27sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 26.27sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.28sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 26.28sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 26.59sWARNros2_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 ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00298191 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOros2_control_node[2026-09-04 13:19:30.256] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-04 13:19:30.256] [info] Accepted new action goal ×2 + 0.76sINFOros2_control_node[2026-09-04 13:19:30.665] [info] Received new action goal ×2 + 0.76sINFOros2_control_node[2026-09-04 13:19:30.665] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352502 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352502 ms (missed cycles : 2).[0m ×2 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.22sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.22sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.26sERRORobjective_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: 1788527972.16275549 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788527972.94281435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:19:33.136] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:19:33.136] [info] Accepted new action goal ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047749 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047749 ms (missed cycles : 4).[0m ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729824 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729824 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538563 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538563 ms (missed cycles : 4).[0m ×2 + 5.73sINFOros2_control_node[2026-09-04 13:19:35.629] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-09-04 13:19:35.629] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485813 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485813 ms (missed cycles : 4).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837339 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837339 ms (missed cycles : 5).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524511 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524511 ms (missed cycles : 2).[0m ×2 + 9.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395464 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395464 ms (missed cycles : 4).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.095400 ms (missed cycles : 6). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.095400 ms (missed cycles : 6).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788527984.19934845 seconds ×3 + 14.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 14.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788527984.85387325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788527984.92399263 seconds ×3 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5).[0m ×2 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 15.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.73sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 15.73sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 17.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 62 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012530 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012530 ms (missed cycles : 3).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sINFOobjective_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 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.05sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.05sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.05sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110204 ms (missed cycles : 6). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110204 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-09-04 13:20:29.666] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-04 13:20:29.666] [info] Accepted new action goal ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542185 ms (missed cycles : 7). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542185 ms (missed cycles : 7).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788528030.82266474 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709271 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709271 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788528031.61778426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608050 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608050 ms (missed cycles : 2).[0m ×2 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.23sINFOros2_control_node[2026-09-04 13:20:32.862] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-09-04 13:20:32.862] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764540 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764540 ms (missed cycles : 2).[0m ×2 + 6.41sWARNros2_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 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951998 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951998 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449465 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449465 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081745 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081745 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_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 + 8.94sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.94sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.94sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.94sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448685 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448685 ms (missed cycles : 3).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819572 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819572 ms (missed cycles : 3).[0m ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.34sINFOros2_control_node[2026-09-04 13:20:38.974] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-09-04 13:20:38.974] [info] Accepted new action goal ×2 + 11.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331196 ms (missed cycles : 5). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331196 ms (missed cycles : 5).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186226 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186226 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077758 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077758 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692399 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692399 ms (missed cycles : 2).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788528042.58793759 seconds ×3 + 15.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.50sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788528043.19620156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.74sINFOros2_control_node[2026-09-04 13:20:43.369] [info] Received new action goal ×2 + 15.74sINFOros2_control_node[2026-09-04 13:20:43.369] [info] Accepted new action goal ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985410 ms (missed cycles : 5). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985410 ms (missed cycles : 5).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138818 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138818 ms (missed cycles : 2).[0m ×2 + 17.00sINFOobjective_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 + 17.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 3 errors · 60 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.38sINFOobjective_server_nodecaller: ×12 + 2.38sINFOobjective_server_nodetype: 0 ×12 + 2.38sINFOobjective_server_nodename: "" ×12 + 2.38sINFOobjective_server_nodeinstance_id: "" ×12 + 2.38sINFOobjective_server_node ×12 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.33sINFOros2_control_node[2026-09-04 13:23:14.508] [info] Received new action goal ×2 + 7.33sINFOros2_control_node[2026-09-04 13:23:14.508] [info] Accepted new action goal ×2 + 7.33sINFOros2_control_node[2026-09-04 13:23:14.508] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444998 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444998 ms (missed cycles : 4).[0m ×2 + 8.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635949 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635949 ms (missed cycles : 3).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331501 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331501 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138298 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138298 ms (missed cycles : 4).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5).[0m ×2 + 13.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 14.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.33sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Canceling active goal... ×2 + 14.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788528201.51981282 seconds ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 16.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 17.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.00sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.05sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.05sINFOobjective_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 + 17.06sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.06sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 17.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 57 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.80sINFOobjective_server_nodecaller: ×6 + 2.80sINFOobjective_server_nodetype: 0 ×6 + 2.80sINFOobjective_server_nodename: "" ×6 + 2.80sINFOobjective_server_nodeinstance_id: "" ×6 + 2.80sINFOobjective_server_node ×6 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.07sINFOros2_control_node[2026-09-04 13:19:03.058] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-09-04 13:19:03.058] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433978 ms (missed cycles : 4). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433978 ms (missed cycles : 4).[0m ×2 + 8.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.168181 ms (missed cycles : 7). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.168181 ms (missed cycles : 7).[0m ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 9.41sINFOros2_control_node[2026-09-04 13:19:05.395] [info] Received new action goal ×2 + 9.41sINFOros2_control_node[2026-09-04 13:19:05.395] [info] Accepted new action goal ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392628 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392628 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 11.75sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.76sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 14.11sERRORobjective_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: 1788527950.09250832 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 14.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.74sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 14.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.93sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713249 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713249 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398915 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398915 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-09-04 13:18:34.844] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-04 13:18:34.844] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937608 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937608 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.27sINFOros2_control_node[2026-09-04 13:18:35.510] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-04 13:18:35.510] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1788527915.52664542 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.83sINFOobjective_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: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.83sINFOobjective_server_nodecaller: ×6 + 2.83sINFOobjective_server_nodetype: 0 ×6 + 2.83sINFOobjective_server_nodename: "" ×6 + 2.83sINFOobjective_server_nodeinstance_id: "" ×6 + 2.83sINFOobjective_server_node ×6 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788527916.13593268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.11sINFOros2_control_node[2026-09-04 13:18:36.349] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-04 13:18:36.349] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747975 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747975 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279674 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279674 ms (missed cycles : 4).[0m ×2 + 5.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671981 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671981 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.39sINFOros2_control_node[2026-09-04 13:18:38.630] [info] Received new action goal ×2 + 5.39sINFOros2_control_node[2026-09-04 13:18:38.630] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966692 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.966692 ms (missed cycles : 5).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847112 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847112 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765374 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765374 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144836 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.144836 ms (missed cycles : 5).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 13.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788527926.61665797 seconds ×3 + 13.92sWARNros2_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 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.01sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 14.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.98sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.08sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[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: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 2.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_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 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 3.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.56sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 3.56sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.08sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505401 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505401 ms (missed cycles : 4).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.753225 ms (missed cycles : 7). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.753225 ms (missed cycles : 7).[0m ×2 + 8.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.888342 ms (missed cycles : 6). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.888342 ms (missed cycles : 6).[0m ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×4 + 9.88sINFOros2_control_node[2026-09-04 13:18:31.515] [info] Received new action goal ×2 + 9.88sINFOros2_control_node[2026-09-04 13:18:31.515] [info] Accepted new action goal ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440202 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440202 ms (missed cycles : 5).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713249 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713249 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398915 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398915 ms (missed cycles : 2).[0m ×2 + 13.19sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.21sINFOros2_control_node[2026-09-04 13:18:34.844] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-09-04 13:18:34.844] [info] Accepted new action goal ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937608 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937608 ms (missed cycles : 2).[0m ×2 + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOros2_control_node[2026-09-04 13:18:35.510] [info] Got request to cancel active goal. ×2 + 13.88sINFOros2_control_node[2026-09-04 13:18:35.510] [info] Canceling active goal... ×2 + 13.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788527915.52664542 seconds ×3 + 13.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 14.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788527916.13593268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 14.72sINFOros2_control_node[2026-09-04 13:18:36.349] [info] Received new action goal ×2 + 14.72sINFOros2_control_node[2026-09-04 13:18:36.349] [info] Accepted new action goal ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747975 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747975 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279674 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279674 ms (missed cycles : 4).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671981 ms (missed cycles : 4). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671981 ms (missed cycles : 4).[0m ×2 + 16.99sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.00sINFOros2_control_node[2026-09-04 13:18:38.630] [info] Received new action goal ×2 + 17.00sINFOros2_control_node[2026-09-04 13:18:38.630] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 3 errors · 57 warnings · 209 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192085 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749695 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749695 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814317 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814317 ms (missed cycles : 4).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972936 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972936 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788527961.72939968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-09-04 13:19:21.933] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 13:19:21.933] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685784 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685784 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208721 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208721 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959814 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959814 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513449 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513449 ms (missed cycles : 4).[0m ×2 + 8.22sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.22sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.22sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.69sINFOobjective_server_nodeFound path in 1 iterations (0.00372253 s). ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927504 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927504 ms (missed cycles : 3).[0m ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 2 iterations (0.00486473 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 1 iterations (0.0032598 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.13sINFOobjective_server_nodeFound path in 0 iterations (1.089e-06 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.29sWARNros2_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 + 9.41sINFOros2_control_node[2026-09-04 13:19:27.376] [info] Received new action goal ×2 + 9.41sINFOros2_control_node[2026-09-04 13:19:27.376] [info] Accepted new action goal ×2 + 9.66sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681406 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681406 ms (missed cycles : 3).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.718596 ms (missed cycles : 6). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.718596 ms (missed cycles : 6).[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2).[0m ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 12.06sINFOobjective_server_nodeFound path in 1 iterations (0.00298191 s). ×2 + 12.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.29sINFOros2_control_node[2026-09-04 13:19:30.256] [info] Received new action goal ×2 + 12.29sINFOros2_control_node[2026-09-04 13:19:30.256] [info] Accepted new action goal ×2 + 12.70sINFOros2_control_node[2026-09-04 13:19:30.665] [info] Received new action goal ×2 + 12.70sINFOros2_control_node[2026-09-04 13:19:30.665] [info] Accepted new action goal ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352502 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352502 ms (missed cycles : 2).[0m ×2 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.15sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.15sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.20sERRORobjective_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: 1788527972.16275549 seconds ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3).[0m ×2 + 14.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.87sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788527972.94281435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 15.17sINFOros2_control_node[2026-09-04 13:19:33.136] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-04 13:19:33.136] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047749 ms (missed cycles : 4). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047749 ms (missed cycles : 4).[0m ×2 + 15.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729824 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729824 ms (missed cycles : 3).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538563 ms (missed cycles : 4). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538563 ms (missed cycles : 4).[0m ×2 + 17.66sINFOros2_control_node[2026-09-04 13:19:35.629] [info] Received new action goal ×2 + 17.66sINFOros2_control_node[2026-09-04 13:19:35.629] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 59 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196457 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196457 ms (missed cycles : 2).[0m ×2 + 0.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580837 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580837 ms (missed cycles : 6).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834176 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834176 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788528141.48393440 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788528142.13469315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388642 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388642 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 13:22:22.279] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 13:22:22.279] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841424 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841424 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741071 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741071 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089433 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089433 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479123 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479123 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961925 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961925 ms (missed cycles : 3).[0m ×2 + 8.99sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262367 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262367 ms (missed cycles : 4).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918162 ms (missed cycles : 5). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918162 ms (missed cycles : 5).[0m ×2 + 11.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836447 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836447 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789900 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789900 ms (missed cycles : 2).[0m ×2 + 13.86sINFOobjective_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 + 13.87sERRORobjective_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: 1788528152.51495767 seconds ×3 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905563 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905563 ms (missed cycles : 5).[0m ×2 + 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 + 14.49sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1788528153.13655615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.51sINFOobjective_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 + 14.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 14.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2).[0m ×2 + 15.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 15.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 15.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 15.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 15.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 15.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.78sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.79sINFOros2_control_node[2026-09-04 13:22:34.441] [info] Received new action goal ×2 + 15.79sINFOros2_control_node[2026-09-04 13:22:34.441] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305240 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305240 ms (missed cycles : 4).[0m ×2 + 16.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164525 ms (missed cycles : 4). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164525 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×6 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 1 iterations (0.00263041 s). ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203710 ms (missed cycles : 4). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203710 ms (missed cycles : 4).[0m ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 2 iterations (0.00457038 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.00sINFOobjective_server_nodeFound path in 1 iterations (0.00300848 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.39sINFOros2_control_node[2026-09-04 13:19:15.309] [info] Received new action goal ×2 + 8.39sINFOros2_control_node[2026-09-04 13:19:15.309] [info] Accepted new action goal ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629291 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629291 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530969 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530969 ms (missed cycles : 4).[0m ×2 + 10.64sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.92sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788527957.86510324 seconds ×3 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192085 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192085 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749695 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749695 ms (missed cycles : 3).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814317 ms (missed cycles : 4). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814317 ms (missed cycles : 4).[0m ×2 + 14.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972936 ms (missed cycles : 4). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972936 ms (missed cycles : 4).[0m ×2 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.81sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788527961.72939968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-04 13:19:21.933] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-04 13:19:21.933] [info] Accepted new action goal ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685784 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685784 ms (missed cycles : 2).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208721 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208721 ms (missed cycles : 3).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959814 ms (missed cycles : 3). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959814 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751786 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751786 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189994 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189994 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143221 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143221 ms (missed cycles : 5).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800085 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800085 ms (missed cycles : 4).[0m ×2 + 10.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167678 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167678 ms (missed cycles : 4).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756517 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756517 ms (missed cycles : 2).[0m ×2 + 13.83sINFOobjective_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 + 13.83sERRORobjective_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: 1788528131.01104164 seconds ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159616 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159616 ms (missed cycles : 2).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788528131.60293722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.71sINFOros2_control_node[2026-09-04 13:22:11.892] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-04 13:22:11.892] [info] Accepted new action goal ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906031 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906031 ms (missed cycles : 4).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035555 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035555 ms (missed cycles : 3).[0m ×2 + 16.95sWARNros2_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 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032065 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032065 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.9s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_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: 1788527926.61665797 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.27sINFOobjective_server_nodecaller: ×8 + 2.27sINFOobjective_server_nodetype: 0 ×8 + 2.27sINFOobjective_server_nodename: "" ×8 + 2.27sINFOobjective_server_nodeinstance_id: "" ×8 + 2.27sINFOobjective_server_node ×8 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512161 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512161 ms (missed cycles : 3).[0m ×2 + 7.24sWARNros2_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 + 7.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 1 iterations (0.00280355 s). ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378955 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378955 ms (missed cycles : 5).[0m ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.91sINFOros2_control_node[2026-09-04 13:18:52.890] [info] Received new action goal ×2 + 7.91sINFOros2_control_node[2026-09-04 13:18:52.890] [info] Accepted new action goal ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180831 ms (missed cycles : 6). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180831 ms (missed cycles : 6).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546957 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546957 ms (missed cycles : 2).[0m ×2 + 10.21sINFOros2_control_node[2026-09-04 13:18:55.193] [info] Received new action goal ×2 + 10.21sINFOros2_control_node[2026-09-04 13:18:55.193] [info] Accepted new action goal ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 11.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 11.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 13.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.81sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 14.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.73sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2394 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 4.48sWARNros2_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 ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 + 7.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 1 iterations (0.00246023 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.00sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516731 ms (missed cycles : 4). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516731 ms (missed cycles : 4).[0m ×2 + 8.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.01sINFOros2_control_node[2026-09-04 13:21:53.886] [info] Received new action goal ×2 + 8.01sINFOros2_control_node[2026-09-04 13:21:53.886] [info] Accepted new action goal ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490714 ms (missed cycles : 5). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490714 ms (missed cycles : 5).[0m ×2 + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.467610 ms (missed cycles : 7). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.467610 ms (missed cycles : 7).[0m ×2 + 10.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 10.31sINFOros2_control_node[2026-09-04 13:21:56.188] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-09-04 13:21:56.188] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 12.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.08sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 13.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 14.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.80sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 14.98sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 16.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 54 errors · 37 warnings · 361 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 0.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.04sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.04sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.04sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.04sINFOobjective_server_nodecaller: ×8 + 0.04sINFOobjective_server_nodetype: 0 ×8 + 0.04sINFOobjective_server_nodename: "" ×8 + 0.04sINFOobjective_server_nodeinstance_id: "" ×8 + 0.04sINFOobjective_server_node ×8 + 0.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 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 7.352830 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528205.53554654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528206.36568213 seconds ×3 + 4.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.14sWARNros2_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 ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4).[0m ×2 + 5.62sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207192 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207192 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127184 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127184 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176937 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176937 ms (missed cycles : 3).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385389 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385389 ms (missed cycles : 2).[0m ×2 + 9.89sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.91sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.91sERRORweb_video_auth_proxy-23process has died [pid 7474, 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 + 9.91sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.91sERRORweb_bridge_auth_proxy-22process has died [pid 7471, 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 + 9.91sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.92sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.92sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.92sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.93sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.93sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.93sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.94sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.94sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.95sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.95sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.96sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.96sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.96sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.96sINFOvideo_server2026/09/04 13:23:31 INF shutting down gracefully ×2 + 9.96sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.97sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.97sINFOvideo_server2026/09/04 13:23:31 INF [WebRTC] closing ×2 + 9.97sINFOvideo_server2026/09/04 13:23:31 INF [RTSP] closing ×2 + 9.97sINFOvideo_server2026/09/04 13:23:31 INF waiting for running hooks ×2 + 9.97sINFOcontroller_managerShutdown request received.... + 9.97sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.97sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.97sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.97sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.97sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.97sERRORmove_groupStack trace (most recent call last) in thread 7819: ×2 + 9.97sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.97sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.97sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.97sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.97sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.97sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.97sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.97sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.97sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.97sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.97sINFOcontroller_managerShutting down the controller manager. + 9.97sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.97sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.97sINFOvideo_server-21process has finished cleanly [pid 7470] ×2 + 9.97sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b5d2f2a63, in __clone ×2 + 9.97sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b5d265aa3, in ×2 + 9.97sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.97sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.97sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.97sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.97sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.97sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.97sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4b5d4f7db3, in ×2 + 9.97sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4b5dc5ca94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.97sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4b5d889620, in rclcpp::Rate::sleep() ×2 + 9.97sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.97sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.97sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.97sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.97sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.97sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.97sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.97sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.97sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.97sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.97sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.97sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.97sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.97sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4b5d7cbd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.97sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4b5d78d087, in ×2 + 9.97sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4b5d4c6390, in __cxa_throw ×2 + 9.97sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4b5d4b0a54, in std::terminate() ×2 + 9.97sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4b5d4c60d9, in ×2 + 9.97sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4b5d4b0ff4, in ×2 + 9.97sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b5d1f18fe, in abort ×2 + 9.97sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b5d20e27d, in raise ×2 + 9.97sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4b5d267b2c, in pthread_kill ×2 + 9.97sERRORmove_groupAborted (Signal sent by tkill() 7383 0) ×2 + 9.98sERRORmove_group-9process has died [pid 7383, 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_sruwcng1 --params-file /tmp/launch_params_eiyd4t2o --params-file /tmp/launch_params_xt0zridh --params-file /tmp/launch_params_ptcsf1k6 --params-file /tmp/launch_params_fvwxq_gk --params-file /tmp/launch_params_g5s9dbfj']. ×2 + 10.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.18sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.18sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.97sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7469] ×2 + 10.97sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.98sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7386] ×2 + 10.99sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7387] ×2 + 11.02sINFOui_teleop_bridge-18process has finished cleanly [pid 7392] ×2 + 11.03sINFOwaypoint_manager_node-11process has finished cleanly [pid 7385] ×2 + 11.03sINFOexecute_objective_bridge-17process has finished cleanly [pid 7391] ×2 + 11.03sINFOcomponent_container_mt-16process has finished cleanly [pid 7390] ×2 + 11.04sINFOparameter_manager_node-10process has finished cleanly [pid 7384] ×2 + 11.18sINFOobjective_server_node[0;m[2026-09-04 13:23:33.202] [moveit_pro_license] [info] ×2 + 11.18sINFOobjective_server_node************************************************* ×4 + 11.18sINFOobjective_server_node* MoveIt Pro License ×2 + 11.18sINFOobjective_server_node* Application has successfully terminated ×2 + 11.31sINFOobjective_server_node_main-14process has finished cleanly [pid 7388] ×2 + 11.31sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.12sINFOcomponent_container_mt-15process has finished cleanly [pid 7389] ×2 + 12.39sINFOweb_bridge-19process has finished cleanly [pid 7393] ×2 + 12.39sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.60sINFOros2_control_node-1process has finished cleanly [pid 7342] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 56 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800085 ms (missed cycles : 4).[0m ×2 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167678 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167678 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756517 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756517 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788528131.01104164 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159616 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788528131.60293722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.97sINFOros2_control_node[2026-09-04 13:22:11.892] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 13:22:11.892] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906031 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906031 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035555 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035555 ms (missed cycles : 3).[0m ×2 + 6.20sWARNros2_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 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032065 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032065 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799748 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799748 ms (missed cycles : 2).[0m ×2 + 7.97sINFOros2_control_node[2026-09-04 13:22:15.899] [info] Received new action goal ×2 + 7.97sINFOros2_control_node[2026-09-04 13:22:15.899] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.680413 ms (missed cycles : 6). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.680413 ms (missed cycles : 6).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677019 ms (missed cycles : 4). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677019 ms (missed cycles : 4).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196457 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196457 ms (missed cycles : 2).[0m ×2 + 11.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580837 ms (missed cycles : 6). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580837 ms (missed cycles : 6).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834176 ms (missed cycles : 5). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834176 ms (missed cycles : 5).[0m ×2 + 13.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788528141.48393440 seconds ×3 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.21sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788528142.13469315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388642 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388642 ms (missed cycles : 3).[0m ×2 + 14.33sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 14.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.35sINFOros2_control_node[2026-09-04 13:22:22.279] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-09-04 13:22:22.279] [info] Accepted new action goal ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841424 ms (missed cycles : 4). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841424 ms (missed cycles : 4).[0m ×2 + 16.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741071 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741071 ms (missed cycles : 2).[0m ×2 + 17.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788527984.19934845 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.90sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.90sINFOobjective_server_nodecaller: ×6 + 2.90sINFOobjective_server_nodetype: 0 ×6 + 2.90sINFOobjective_server_nodename: "" ×6 + 2.90sINFOobjective_server_nodeinstance_id: "" ×6 + 2.90sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788527984.85387325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788527984.92399263 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5).[0m ×2 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.45sINFOobjective_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 + 7.46sINFOobjective_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 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.78sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 9.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 34 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5).[0m ×2 + 2.32sWARNros2_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 + 2.77sINFOobjective_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 + 2.78sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1788528201.51981282 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.32sINFOobjective_server_nodecaller: ×8 + 3.32sINFOobjective_server_nodetype: 0 ×8 + 3.32sINFOobjective_server_nodename: "" ×8 + 3.32sINFOobjective_server_nodeinstance_id: "" ×8 + 3.32sINFOobjective_server_node ×8 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.50sINFOobjective_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 + 5.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2).[0m ×2 + 6.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528205.53554654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2).[0m ×2 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528206.36568213 seconds ×3 + 7.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.42sWARNros2_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 ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 693 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.18sINFOcomponent_container_mt[2026-09-04 13:18:17.375] [moveit_pro_license] [info] ×2 + 0.18sINFOcomponent_container_mt************************************************* ×4 + 0.18sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.18sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.32sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.41sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.41sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.41sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.41sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.41sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.41sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.41sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.41sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.41sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.41sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.41sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.41sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.42sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.42sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.42sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.42sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.42sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.42sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.42sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.42sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.42sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.42sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.42sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.42sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.42sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.42sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.42sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.61sWARNobjective_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 + 0.62sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.62sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.62sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.63sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.64sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.64sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.64sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.64sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.64sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807796 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807796 ms (missed cycles : 3).[0m ×2 + 0.65sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.65sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.91sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.91sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.95sINFOros2-3process has finished cleanly [pid 7344] ×2 + 1.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.03sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.03sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.08sINFOros2_control_node[2026-09-04 13:18:18.276] [info] Controller state will be published at 10 Hz. ×2 + 1.08sINFOros2_control_node[2026-09-04 13:18:18.277] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2-7process has finished cleanly [pid 7359] ×2 + 1.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.46sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.46sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.49sINFOros2_control_node[2026-09-04 13:18:18.683] [info] Controller state will be published at 20 Hz. ×2 + 1.49sINFOros2_control_node[2026-09-04 13:18:18.684] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2).[0m ×2 + 1.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.86sINFOros2-8process has finished cleanly [pid 7360] ×2 + 1.90sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.90sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.94sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.94sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.94sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.97sINFOros2_control_node[2026-09-04 13:18:19.161] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.97sINFOros2_control_node[2026-09-04 13:18:19.161] [info] Controller state will be published at 50 Hz. ×2 + 1.97sINFOros2_control_node[2026-09-04 13:18:19.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 2.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 2.30sINFOros2-6process has finished cleanly [pid 7358] ×2 + 2.33sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.33sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.33sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.33sINFOforce_torque_sensor_broadcasterconfigure successful + 2.33sINFOros2_control_nodeconfigure successful[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.66sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.66sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.66sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 2.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.69sINFOobjective_server_nodecaller: ×14 + 2.69sINFOobjective_server_nodetype: 0 ×14 + 2.69sINFOobjective_server_nodename: "" ×14 + 2.69sINFOobjective_server_nodeinstance_id: "" ×14 + 2.69sINFOobjective_server_node ×14 + 2.69sINFOros2-2process has finished cleanly [pid 7343] ×2 + 2.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.71sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 3.00sINFOros2-4process has finished cleanly [pid 7356] ×2 + 3.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 3.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 3.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.37sINFOros2-5process has finished cleanly [pid 7357] ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.52sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 7.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 7.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.89sINFOobjective_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 + 7.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.00sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.39sINFOobjective_server_nodecaller: ×6 + 3.39sINFOobjective_server_nodetype: 0 ×6 + 3.39sINFOobjective_server_nodename: "" ×6 + 3.39sINFOobjective_server_nodeinstance_id: "" ×6 + 3.39sINFOobjective_server_node ×6 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788527984.19934845 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788527984.85387325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788527984.92399263 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5).[0m ×2 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 215 info |
+ 0.00sWARNros2_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 + 0.46sINFOobjective_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 + 0.46sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Got request to cancel active goal. ×2 + 0.46sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Canceling active goal... ×2 + 0.47sERRORobjective_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: 1788528201.51981282 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 1.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.01sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.01sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.01sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.01sINFOobjective_server_nodecaller: ×8 + 1.01sINFOobjective_server_nodetype: 0 ×8 + 1.01sINFOobjective_server_nodename: "" ×8 + 1.01sINFOobjective_server_nodeinstance_id: "" ×8 + 1.01sINFOobjective_server_node ×8 + 1.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.18sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.18sINFOobjective_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 + 3.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528205.53554654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528206.36568213 seconds ×3 + 5.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.10sWARNros2_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 ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4).[0m ×2 + 6.59sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207192 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207192 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 13:18:55.193] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 13:18:55.193] [info] Accepted new action goal ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.39sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.52sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 543 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.09sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7360] ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] Controller state will be published at 50 Hz. ×2 + 0.24sINFOros2_control_node[2026-09-04 13:18:19.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 7358] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.95sINFOros2-2process has finished cleanly [pid 7343] ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 1.27sINFOros2-4process has finished cleanly [pid 7356] ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.35sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sINFOros2-5process has finished cleanly [pid 7357] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.78sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788527926.61665797 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.38sINFOobjective_server_nodecaller: ×6 + 2.38sINFOobjective_server_nodetype: 0 ×6 + 2.38sINFOobjective_server_nodename: "" ×6 + 2.38sINFOobjective_server_nodeinstance_id: "" ×6 + 2.38sINFOobjective_server_node ×6 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.69sINFOobjective_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 + 0.70sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Got request to cancel active goal. ×2 + 0.70sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Canceling active goal... ×2 + 0.71sERRORobjective_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: 1788528201.51981282 seconds ×3 + 0.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.24sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.24sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.24sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.24sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.24sINFOobjective_server_nodecaller: ×8 + 1.24sINFOobjective_server_nodetype: 0 ×8 + 1.24sINFOobjective_server_nodename: "" ×8 + 1.24sINFOobjective_server_nodeinstance_id: "" ×8 + 1.24sINFOobjective_server_node ×8 + 1.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.42sINFOobjective_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 + 3.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736205 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788528205.53554654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371512 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788528206.36568213 seconds ×3 + 5.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.34sWARNros2_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 ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138888 ms (missed cycles : 4).[0m ×2 + 6.83sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 4.48sWARNros2_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 ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788527926.61665797 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158138 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788527926.61665797 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_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: 1788527926.61665797 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_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: 1788527926.61665797 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_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: 1788527926.61665797 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451472 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924588 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sERRORobjective_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: 1788527926.61665797 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sWARNros2_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 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033312 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788527927.29774046 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788527927.37787318 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788527928.02062869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:18:48.214] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.307008 ms (missed cycles : 5).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340731 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053563 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094472 ms (missed cycles : 2).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-04 13:18:56.965] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057238 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645466 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788527938.25207901 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788527938.86780381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788527938.94793177 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752836 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788527939.58417344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:18:59.708] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629729 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094377 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102965 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579964 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-09-04 13:19:07.745] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593718 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.17sERRORobjective_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: 1788527950.09250832 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.132289 ms (missed cycles : 7).[0m ×2 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788527950.72322989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:19:10.917] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639234 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204054 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908277 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00298191 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.35sINFOros2_control_node[2026-09-04 13:19:30.256] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-04 13:19:30.256] [info] Accepted new action goal ×2 + 0.76sINFOros2_control_node[2026-09-04 13:19:30.665] [info] Received new action goal ×2 + 0.76sINFOros2_control_node[2026-09-04 13:19:30.665] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352502 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352502 ms (missed cycles : 2).[0m ×2 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.22sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.22sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.26sERRORobjective_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: 1788527972.16275549 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219835 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.93sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.93sINFOobjective_server_nodecaller: ×2 + 2.93sINFOobjective_server_nodetype: 0 ×2 + 2.93sINFOobjective_server_nodename: "" ×2 + 2.93sINFOobjective_server_nodeinstance_id: "" ×2 + 2.93sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788527972.94281435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.23sINFOros2_control_node[2026-09-04 13:19:33.136] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-04 13:19:33.136] [info] Accepted new action goal ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047749 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047749 ms (missed cycles : 4).[0m ×2 + 3.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729824 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729824 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538563 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538563 ms (missed cycles : 4).[0m ×2 + 5.73sINFOros2_control_node[2026-09-04 13:19:35.629] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-09-04 13:19:35.629] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710217 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630229 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448456 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788527984.19934845 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.90sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.90sINFOobjective_server_nodecaller: ×4 + 2.90sINFOobjective_server_nodetype: 0 ×4 + 2.90sINFOobjective_server_nodename: "" ×4 + 2.90sINFOobjective_server_nodeinstance_id: "" ×4 + 2.90sINFOobjective_server_node ×4 + 2.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788527984.85387325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788527984.92399263 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027731 ms (missed cycles : 5).[0m ×2 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788527985.51598597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.16sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 13:19:45.629] [info] Accepted new action goal ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208717 ms (missed cycles : 2).[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889974 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788527987.63610864 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665277 ms (missed cycles : 3).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788527989.27246165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029761 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.22sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-04 13:19:49.689] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842623 ms (missed cycles : 3).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105060 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331196 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331196 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186226 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186226 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077758 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077758 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692399 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692399 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788528042.58793759 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788528043.19620156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:20:43.369] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:20:43.369] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985410 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985410 ms (missed cycles : 5).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138818 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138818 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134379 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 4.48sWARNros2_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 ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 4.48sWARNros2_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 ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 4.48sWARNros2_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 ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062722 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669203 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006852 ms (missed cycles : 3).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788528109.11051369 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131641 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788528109.82883620 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 13:21:50.052] [info] Accepted new action goal ×2 + 4.48sWARNros2_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 ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756503 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816327 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826662 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042761 ms (missed cycles : 4).[0m ×2 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-04 13:21:57.952] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803741 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788528119.23904943 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730027 ms (missed cycles : 3).[0m ×2 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.605166 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788528120.67053533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 13:22:00.854] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936403 ms (missed cycles : 3).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.496546 ms (missed cycles : 6).[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800085 ms (missed cycles : 4).[0m ×2 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167678 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167678 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756517 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756517 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788528131.01104164 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159616 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159616 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788528131.60293722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.97sINFOros2_control_node[2026-09-04 13:22:11.892] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-04 13:22:11.892] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906031 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906031 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035555 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035555 ms (missed cycles : 3).[0m ×2 + 6.20sWARNros2_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 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032065 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032065 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196457 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196457 ms (missed cycles : 2).[0m ×2 + 0.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580837 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580837 ms (missed cycles : 6).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834176 ms (missed cycles : 5). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.834176 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788528141.48393440 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788528142.13469315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388642 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388642 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.63sINFOros2_control_node[2026-09-04 13:22:22.279] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-04 13:22:22.279] [info] Accepted new action goal ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841424 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841424 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741071 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741071 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918162 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918162 ms (missed cycles : 5).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836447 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836447 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789900 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789900 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sERRORobjective_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: 1788528152.51495767 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905563 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905563 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1788528153.13655615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754057 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.95sINFOros2_control_node[2026-09-04 13:22:34.441] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-04 13:22:34.441] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305240 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305240 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164525 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164525 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.39sINFOobjective_server_nodecaller: ×6 + 3.39sINFOobjective_server_nodetype: 0 ×6 + 3.39sINFOobjective_server_nodename: "" ×6 + 3.39sINFOobjective_server_nodeinstance_id: "" ×6 + 3.39sINFOobjective_server_node ×6 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.39sINFOobjective_server_nodecaller: ×6 + 3.39sINFOobjective_server_nodetype: 0 ×6 + 3.39sINFOobjective_server_nodename: "" ×6 + 3.39sINFOobjective_server_nodeinstance_id: "" ×6 + 3.39sINFOobjective_server_node ×6 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996510 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.39sINFOobjective_server_nodecaller: ×6 + 3.39sINFOobjective_server_nodetype: 0 ×6 + 3.39sINFOobjective_server_nodename: "" ×6 + 3.39sINFOobjective_server_nodeinstance_id: "" ×6 + 3.39sINFOobjective_server_node ×6 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.38sINFOobjective_server_nodecaller: ×6 + 2.38sINFOobjective_server_nodetype: 0 ×6 + 2.38sINFOobjective_server_nodename: "" ×6 + 2.38sINFOobjective_server_nodeinstance_id: "" ×6 + 2.38sINFOobjective_server_node ×6 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.38sINFOobjective_server_nodecaller: ×6 + 2.38sINFOobjective_server_nodetype: 0 ×6 + 2.38sINFOobjective_server_nodename: "" ×6 + 2.38sINFOobjective_server_nodeinstance_id: "" ×6 + 2.38sINFOobjective_server_node ×6 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.38sINFOobjective_server_nodecaller: ×6 + 2.38sINFOobjective_server_nodetype: 0 ×6 + 2.38sINFOobjective_server_nodename: "" ×6 + 2.38sINFOobjective_server_nodeinstance_id: "" ×6 + 2.38sINFOobjective_server_node ×6 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870295 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431531 ms (missed cycles : 3).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788528188.93672371 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017086 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.38sINFOobjective_server_nodecaller: ×6 + 2.38sINFOobjective_server_nodetype: 0 ×6 + 2.38sINFOobjective_server_nodename: "" ×6 + 2.38sINFOobjective_server_nodeinstance_id: "" ×6 + 2.38sINFOobjective_server_node ×6 + 2.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788528189.60773611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788528189.73787045 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987253 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788528190.32719994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788528190.34929109 seconds ×3 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788528191.06461549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-04 13:23:11.178] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000216 ms (missed cycles : 3).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619367 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308673 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5).[0m ×2 + 2.32sWARNros2_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 + 2.77sINFOobjective_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 + 2.78sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1788528201.51981282 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.32sINFOobjective_server_nodecaller: ×6 + 3.32sINFOobjective_server_nodetype: 0 ×6 + 3.32sINFOobjective_server_nodename: "" ×6 + 3.32sINFOobjective_server_nodeinstance_id: "" ×6 + 3.32sINFOobjective_server_node ×6 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.50sINFOobjective_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 + 5.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571823 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281016 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415939 ms (missed cycles : 5).[0m ×2 + 2.32sWARNros2_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 + 2.77sINFOobjective_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 + 2.78sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-09-04 13:23:21.514] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1788528201.51981282 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217280 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.32sINFOobjective_server_nodecaller: ×6 + 3.32sINFOobjective_server_nodetype: 0 ×6 + 3.32sINFOobjective_server_nodename: "" ×6 + 3.32sINFOobjective_server_nodeinstance_id: "" ×6 + 3.32sINFOobjective_server_node ×6 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788528202.10578513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352830 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788528203.64590955 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363218 ms (missed cycles : 5).[0m ×2 + 5.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788528204.23396420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.50sINFOobjective_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 + 5.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788528204.23712230 seconds ×3 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788528204.94300580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788528204.94350648 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.7s | 39 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-13-18-13-209548-0c937f894dd0-7294 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465150 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7342] ×2 + 0.83sINFOmove_group-9process started with pid [7383] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7384] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7385] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7386] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7387] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7388] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7389] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7390] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7391] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7392] ×2 + 0.83sINFOweb_bridge-19process started with pid [7393] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7469] ×2 + 0.83sINFOvideo_server-21process started with pid [7470] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7471] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7474] ×2 + 0.85sINFOros2-2process started with pid [7343] ×2 + 0.85sINFOros2-3process started with pid [7344] ×2 + 0.85sINFOros2-4process started with pid [7356] ×2 + 0.85sINFOros2-5process started with pid [7357] ×2 + 0.85sINFOros2-6process started with pid [7358] ×2 + 0.85sINFOros2-7process started with pid [7359] ×2 + 0.85sINFOros2-8process started with pid [7360] ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 3.465150 ms (missed cycles : 3).[0m ×2 + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.89sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOvideo_server2026/09/04 13:18:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.06sINFOvideo_server2026/09/04 13:18:14 INF configuration loaded from /tmp/moveit-webrtc-8e_wmwhf/mediamtx.yml ×2 + 1.07sINFOvideo_server2026/09/04 13:18:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.07sINFOvideo_server2026/09/04 13:18:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.48sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sINFOmove_group[2026-09-04 13:18:15.288] [moveit_pro_license] [info] ×2 + 1.71sINFOmove_group************************************************* ×4 + 1.71sINFOmove_group* MoveIt Pro License ×2 + 1.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.02sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.02sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.02sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.04sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.04sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.09sINFOmove_group ×4 + 2.09sINFOmove_group[92mYou can start planning now![0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494524 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494524 ms (missed cycles : 3).[0m ×2 + 2.23sINFOwaypoint_manager_node[2026-09-04 13:18:15.804] [moveit_pro_license] [info] ×2 + 2.23sINFOwaypoint_manager_node************************************************* ×4 + 2.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.30sINFOobjective_server_node[2026-09-04 13:18:16.875] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOobjective_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 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.80sINFOcomponent_container_mt[2026-09-04 13:18:17.375] [moveit_pro_license] [info] ×2 + 3.80sINFOcomponent_container_mt************************************************* ×4 + 3.80sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.80sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.94sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.94sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.03sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.03sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.03sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.03sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.03sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.03sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.03sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.03sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.03sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.03sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.03sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.03sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.03sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.03sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.03sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.03sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.03sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.03sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.23sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.24sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.24sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.24sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.24sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 4.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 4.25sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.25sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.25sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.25sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.26sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.26sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.26sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.26sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 4.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 4.26sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807796 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807796 ms (missed cycles : 3).[0m ×2 + 4.27sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.27sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.57sINFOros2-3process has finished cleanly [pid 7344] ×2 + 4.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 4.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 4.65sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.65sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.65sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.70sINFOros2_control_node[2026-09-04 13:18:18.276] [info] Controller state will be published at 10 Hz. ×2 + 4.70sINFOros2_control_node[2026-09-04 13:18:18.277] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.01sINFOros2-7process has finished cleanly [pid 7359] ×2 + 5.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 5.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 5.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.11sINFOros2_control_node[2026-09-04 13:18:18.683] [info] Controller state will be published at 20 Hz. ×2 + 5.11sINFOros2_control_node[2026-09-04 13:18:18.684] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2).[0m ×2 + 5.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.47sINFOros2-8process has finished cleanly [pid 7360] ×2 + 5.52sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 5.52sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 5.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.56sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.56sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.58sINFOros2_control_node[2026-09-04 13:18:19.161] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.58sINFOros2_control_node[2026-09-04 13:18:19.161] [info] Controller state will be published at 50 Hz. ×2 + 5.59sINFOros2_control_node[2026-09-04 13:18:19.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 5.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 5.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 5.92sINFOros2-6process has finished cleanly [pid 7358] ×2 + 5.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.95sINFOforce_torque_sensor_broadcasterconfigure successful + 5.95sINFOros2_control_nodeconfigure successful[0m ×2 + 5.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.27sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.27sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.27sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.28sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 6.28sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.30sINFOobjective_server_nodecaller: ×10 + 6.30sINFOobjective_server_nodetype: 0 ×10 + 6.30sINFOobjective_server_nodename: "" ×10 + 6.30sINFOobjective_server_nodeinstance_id: "" ×10 + 6.30sINFOobjective_server_node ×10 + 6.30sINFOros2-2process has finished cleanly [pid 7343] ×2 + 6.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 6.62sINFOros2-4process has finished cleanly [pid 7356] ×2 + 6.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 6.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 6.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.69sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.69sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.95sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.99sINFOros2-5process has finished cleanly [pid 7357] ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 8.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 8.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.14sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 8.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.62sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 9.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 9.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 10.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 390 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7356] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.28sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.28sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.28sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.28sINFOobjective_server_nodecaller: ×12 + 0.28sINFOobjective_server_nodetype: 0 ×12 + 0.28sINFOobjective_server_nodename: "" ×12 + 0.28sINFOobjective_server_nodeinstance_id: "" ×12 + 0.28sINFOobjective_server_node ×12 + 0.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.37sINFOros2-5process has finished cleanly [pid 7357] ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.52sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.43sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.52sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 7.52sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 484 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.01sINFOros2-6process has finished cleanly [pid 7358] ×2 + 0.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.40sINFOobjective_server_nodecaller: ×14 + 0.40sINFOobjective_server_nodetype: 0 ×14 + 0.40sINFOobjective_server_nodename: "" ×14 + 0.40sINFOobjective_server_nodeinstance_id: "" ×14 + 0.40sINFOobjective_server_node ×14 + 0.40sINFOros2-2process has finished cleanly [pid 7343] ×2 + 0.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 0.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 7356] ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sINFOros2-5process has finished cleanly [pid 7357] ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.23sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_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 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.71sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 5.71sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-04-13-18-13-209548-0c937f894dd0-7294 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465150 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7342] ×2 + 0.83sINFOmove_group-9process started with pid [7383] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7384] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7385] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7386] ×2 + 0.83sINFOmove_end_effector_resampler_node-13process started with pid [7387] ×2 + 0.83sINFOobjective_server_node_main-14process started with pid [7388] ×2 + 0.83sINFOcomponent_container_mt-15process started with pid [7389] ×2 + 0.83sINFOcomponent_container_mt-16process started with pid [7390] ×2 + 0.83sINFOexecute_objective_bridge-17process started with pid [7391] ×2 + 0.83sINFOui_teleop_bridge-18process started with pid [7392] ×2 + 0.83sINFOweb_bridge-19process started with pid [7393] ×2 + 0.83sINFOtf2_web_republisher_node-20process started with pid [7469] ×2 + 0.83sINFOvideo_server-21process started with pid [7470] ×2 + 0.83sINFOweb_bridge_auth_proxy-22process started with pid [7471] ×2 + 0.83sINFOweb_video_auth_proxy-23process started with pid [7474] ×2 + 0.85sINFOros2-2process started with pid [7343] ×2 + 0.85sINFOros2-3process started with pid [7344] ×2 + 0.85sINFOros2-4process started with pid [7356] ×2 + 0.85sINFOros2-5process started with pid [7357] ×2 + 0.85sINFOros2-6process started with pid [7358] ×2 + 0.85sINFOros2-7process started with pid [7359] ×2 + 0.85sINFOros2-8process started with pid [7360] ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 3.465150 ms (missed cycles : 3).[0m ×2 + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.89sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOvideo_server2026/09/04 13:18:14 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.06sINFOvideo_server2026/09/04 13:18:14 INF configuration loaded from /tmp/moveit-webrtc-8e_wmwhf/mediamtx.yml ×2 + 1.07sINFOvideo_server2026/09/04 13:18:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.07sINFOvideo_server2026/09/04 13:18:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.07sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.48sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.48sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sINFOmove_group[2026-09-04 13:18:15.288] [moveit_pro_license] [info] ×2 + 1.71sINFOmove_group************************************************* ×4 + 1.71sINFOmove_group* MoveIt Pro License ×2 + 1.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.02sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.02sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.02sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.02sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.04sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.04sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.09sINFOmove_group ×4 + 2.09sINFOmove_group[92mYou can start planning now![0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494524 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494524 ms (missed cycles : 3).[0m ×2 + 2.23sINFOwaypoint_manager_node[2026-09-04 13:18:15.804] [moveit_pro_license] [info] ×2 + 2.23sINFOwaypoint_manager_node************************************************* ×4 + 2.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.30sINFOobjective_server_node[2026-09-04 13:18:16.875] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.42sINFOobjective_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 + 3.42sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 543 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.09sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7360] ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] Controller state will be published at 50 Hz. ×2 + 0.24sINFOros2_control_node[2026-09-04 13:18:19.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 7358] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.95sINFOros2-2process has finished cleanly [pid 7343] ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 1.27sINFOros2-4process has finished cleanly [pid 7356] ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.35sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sINFOros2-5process has finished cleanly [pid 7357] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.78sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 543 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.09sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7360] ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] Controller state will be published at 50 Hz. ×2 + 0.24sINFOros2_control_node[2026-09-04 13:18:19.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 7358] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.95sINFOros2-2process has finished cleanly [pid 7343] ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 1.27sINFOros2-4process has finished cleanly [pid 7356] ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.35sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sINFOros2-5process has finished cleanly [pid 7357] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.78sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 543 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857904 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.09sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2-8process has finished cleanly [pid 7360] ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_node[2026-09-04 13:18:19.137] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-09-04 13:18:19.161] [info] Controller state will be published at 50 Hz. ×2 + 0.24sINFOros2_control_node[2026-09-04 13:18:19.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 7358] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.95sINFOobjective_server_nodecaller: ×14 + 0.95sINFOobjective_server_nodetype: 0 ×14 + 0.95sINFOobjective_server_nodename: "" ×14 + 0.95sINFOobjective_server_nodeinstance_id: "" ×14 + 0.95sINFOobjective_server_node ×14 + 0.95sINFOros2-2process has finished cleanly [pid 7343] ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 1.27sINFOros2-4process has finished cleanly [pid 7356] ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.27sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.35sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.64sINFOros2-5process has finished cleanly [pid 7357] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.78sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.07sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 6.27sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 19 warnings · 484 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.01sINFOros2-6process has finished cleanly [pid 7358] ×2 + 0.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.40sINFOobjective_server_nodecaller: ×14 + 0.40sINFOobjective_server_nodetype: 0 ×14 + 0.40sINFOobjective_server_nodename: "" ×14 + 0.40sINFOobjective_server_nodeinstance_id: "" ×14 + 0.40sINFOobjective_server_node ×14 + 0.40sINFOros2-2process has finished cleanly [pid 7343] ×2 + 0.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788527899.93089557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788527899.94113803 seconds ×3 + 0.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.71sINFOros2-4process has finished cleanly [pid 7356] ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sINFOros2-5process has finished cleanly [pid 7357] ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.23sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_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 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.71sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 5.71sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 374 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7356] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_66p63u9q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_quqk48si --params-file /tmp/launch_params_eywkndbg [0m ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.28sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.28sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.28sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.28sINFOobjective_server_nodecaller: ×12 + 0.28sINFOobjective_server_nodetype: 0 ×12 + 0.28sINFOobjective_server_nodename: "" ×12 + 0.28sINFOobjective_server_nodeinstance_id: "" ×12 + 0.28sINFOobjective_server_node ×12 + 0.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788527900.52412033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-5process has finished cleanly [pid 7357] ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.52sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040539 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788527901.63425779 seconds ×3 + 0.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.72sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880025 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788527902.25531793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788527902.31552196 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788527902.97010469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788527902.99021673 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421353 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788527903.58644390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788527903.73715305 seconds ×3 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748832 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788527904.42554665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788527904.46563745 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788527905.06035614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.3357e-05 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 13:18:25.196] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842155 ms (missed cycles : 4).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716318 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-09-04 13:18:27.714] [info] Accepted new action goal ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944154 ms (missed cycles : 3).[0m ×2 | ||||