127
Total objective tests
32
Objectives passed
2
Objectives failed
93
Objectives skipped
8.4s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives2 fail28 pass58 skip
| ✕ failed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 0.8s | 6 errors · 32 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.72sINFOobjective_server_nodeFound path in 1 iterations (0.00310093 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.98sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3).[0m ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.80sINFOobjective_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 + 2.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_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: 1788876093.71004820 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×6 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.64sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Live Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.64sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.64sINFOobjective_server_nodeDetails: Can't find a tree with name: Live Surface Coverage Demo ×2 + 3.64sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 4.38sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788876095.24957299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3).[0m ×2 + 4.50sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Accepted new action goal ×2 + 4.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5).[0m ×2 + 7.02sINFOros2_control_node[2026-09-08 14:01:37.889] [info] Received new action goal ×2 + 7.02sINFOros2_control_node[2026-09-08 14:01:37.889] [info] Accepted new action goal ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808846 ms (missed cycles : 4). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808846 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 0.6s | 6 errors · 37 warnings · 269 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1788876275.08253813 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.36sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.36sINFOobjective_server_nodecaller: ×8 + 3.36sINFOobjective_server_nodetype: 0 ×8 + 3.36sINFOobjective_server_nodename: "" ×8 + 3.36sINFOobjective_server_nodeinstance_id: "" ×8 + 3.36sINFOobjective_server_node ×8 + 3.41sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.41sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.41sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 3.41sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.41sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.41sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.41sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.41sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 3.41sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.62sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 5.62sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 173 warnings · 18288 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.320976 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.320976 ms (missed cycles : 8).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239061 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239061 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992467 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992467 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788876165.08523154 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201849 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201849 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_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: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.62sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788876165.74838591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.80sINFOros2_control_node[2026-09-08 14:02:45.922] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-08 14:02:45.922] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356121 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356121 ms (missed cycles : 6).[0m ×2 + 5.07sINFOobjective_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 + 5.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.13sINFOobjective_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 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835548 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835548 ms (missed cycles : 7).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718356 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718356 ms (missed cycles : 2).[0m ×2 + 6.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 7.27sINFOjoint_trajectory_controllerReceived new action goal ×3002 + 7.27sINFOjoint_trajectory_controllerAccepted new action goal ×3002 + 7.27sINFOros2_control_nodeReceived new action goal[0m ×6004 + 7.28sINFOros2_control_nodeAccepted new action goal[0m ×6004 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670753 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670753 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901453 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901453 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172246 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172246 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725345 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725345 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678399 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678399 ms (missed cycles : 2).[0m ×2 + 12.14sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.14sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.14sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.14sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.607460 ms (missed cycles : 6). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.607460 ms (missed cycles : 6).[0m ×2 + 12.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116861 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116861 ms (missed cycles : 2).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702592 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702592 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677971 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677971 ms (missed cycles : 2).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939680 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939680 ms (missed cycles : 2).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921594 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921594 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851441 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851441 ms (missed cycles : 2).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036821 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036821 ms (missed cycles : 2).[0m ×2 + 20.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332057 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332057 ms (missed cycles : 2).[0m ×2 + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841813 ms (missed cycles : 2). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841813 ms (missed cycles : 2).[0m ×2 + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913217 ms (missed cycles : 2). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913217 ms (missed cycles : 2).[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097631 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097631 ms (missed cycles : 2).[0m ×2 + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498283 ms (missed cycles : 2). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498283 ms (missed cycles : 2).[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670035 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670035 ms (missed cycles : 2).[0m ×2 + 26.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712346 ms (missed cycles : 3). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712346 ms (missed cycles : 3).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337579 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337579 ms (missed cycles : 3).[0m ×2 + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835084 ms (missed cycles : 2). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835084 ms (missed cycles : 2).[0m ×2 + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391667 ms (missed cycles : 2). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391667 ms (missed cycles : 2).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.802155 ms (missed cycles : 8). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.802155 ms (missed cycles : 8).[0m ×2 + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286907 ms (missed cycles : 2). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286907 ms (missed cycles : 2).[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947725 ms (missed cycles : 3). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947725 ms (missed cycles : 3).[0m ×2 + 33.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110556 ms (missed cycles : 6). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110556 ms (missed cycles : 6).[0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686711 ms (missed cycles : 2). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686711 ms (missed cycles : 2).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895715 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895715 ms (missed cycles : 2).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616350 ms (missed cycles : 2). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616350 ms (missed cycles : 2).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071470 ms (missed cycles : 2). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071470 ms (missed cycles : 2).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285043 ms (missed cycles : 2). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285043 ms (missed cycles : 2).[0m ×2 + 39.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734405 ms (missed cycles : 2). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734405 ms (missed cycles : 2).[0m ×2 + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917325 ms (missed cycles : 2). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917325 ms (missed cycles : 2).[0m ×2 + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123844 ms (missed cycles : 2). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123844 ms (missed cycles : 2).[0m ×2 + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243737 ms (missed cycles : 3). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243737 ms (missed cycles : 3).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703203 ms (missed cycles : 2). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703203 ms (missed cycles : 2).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282421 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282421 ms (missed cycles : 2).[0m ×2 + 45.89sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738806 ms (missed cycles : 2). + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738806 ms (missed cycles : 2).[0m ×2 + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118219 ms (missed cycles : 2). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118219 ms (missed cycles : 2).[0m ×2 + 47.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876209.56445575 seconds ×3 + 47.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.00sINFOobjective_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: ""
+ 48.00sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788876210.20755219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.13sINFOobjective_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 + 48.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.22sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 48.23sINFOros2_control_node[2026-09-08 14:03:30.351] [info] Received new action goal ×2 + 48.23sINFOros2_control_node[2026-09-08 14:03:30.351] [info] Accepted new action goal ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849773 ms (missed cycles : 2). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849773 ms (missed cycles : 2).[0m ×2 + 49.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130630 ms (missed cycles : 4). + 49.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130630 ms (missed cycles : 4).[0m ×2 + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685457 ms (missed cycles : 2). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685457 ms (missed cycles : 2).[0m ×2 + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121826 ms (missed cycles : 2). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121826 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 159 warnings · 325 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×6 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682562 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682562 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153651 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153651 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401147 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401147 ms (missed cycles : 2).[0m ×2 + 10.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.20sINFOros2_control_node[2026-09-08 14:01:58.270] [info] Received new action goal ×2 + 10.20sINFOros2_control_node[2026-09-08 14:01:58.270] [info] Accepted new action goal ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972298 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972298 ms (missed cycles : 2).[0m ×2 + 11.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510903 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510903 ms (missed cycles : 3).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634864 ms (missed cycles : 6). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634864 ms (missed cycles : 6).[0m ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.24sINFOros2_control_node[2026-09-08 14:02:01.308] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-09-08 14:02:01.308] [info] Accepted new action goal ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.951602 ms (missed cycles : 9). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.951602 ms (missed cycles : 9).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.673435 ms (missed cycles : 7). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.673435 ms (missed cycles : 7).[0m ×2 + 16.20sINFOobjective_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 + 16.20sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.20sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.20sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.20sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942093 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942093 ms (missed cycles : 3).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184992 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184992 ms (missed cycles : 2).[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702901 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702901 ms (missed cycles : 3).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318131 ms (missed cycles : 2). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318131 ms (missed cycles : 2).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157368 ms (missed cycles : 4). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157368 ms (missed cycles : 4).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.787818 ms (missed cycles : 6). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.787818 ms (missed cycles : 6).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899399 ms (missed cycles : 3). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899399 ms (missed cycles : 3).[0m ×2 + 23.00sINFOobjective_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 + 23.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383158 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383158 ms (missed cycles : 2).[0m ×2 + 23.93sINFOros2_control_node[2026-09-08 14:02:11.999] [info] Received new action goal ×2 + 23.93sINFOros2_control_node[2026-09-08 14:02:12.000] [info] Accepted new action goal ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000202 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000202 ms (missed cycles : 2).[0m ×2 + 25.10sINFOobjective_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 + 25.11sINFOobjective_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 + 25.39sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 25.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.42sINFOros2_control_node[2026-09-08 14:02:13.493] [info] Received new action goal ×2 + 25.42sINFOros2_control_node[2026-09-08 14:02:13.493] [info] Accepted new action goal ×2 + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609018 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609018 ms (missed cycles : 3).[0m ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587952 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587952 ms (missed cycles : 3).[0m ×2 + 27.55sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 27.55sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.56sINFOros2_control_node[2026-09-08 14:02:15.631] [info] Received new action goal ×2 + 27.56sINFOros2_control_node[2026-09-08 14:02:15.631] [info] Accepted new action goal ×2 + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796110 ms (missed cycles : 2). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796110 ms (missed cycles : 2).[0m ×2 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577966 ms (missed cycles : 2). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577966 ms (missed cycles : 2).[0m ×2 + 30.69sINFOros2_control_node[2026-09-08 14:02:18.760] [info] Received new action goal ×2 + 30.69sINFOros2_control_node[2026-09-08 14:02:18.760] [info] Accepted new action goal ×2 + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675635 ms (missed cycles : 2). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675635 ms (missed cycles : 2).[0m ×2 + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895662 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895662 ms (missed cycles : 2).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674727 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674727 ms (missed cycles : 2).[0m ×2 + 33.28sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 33.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.33sINFOros2_control_node[2026-09-08 14:02:21.403] [info] Received new action goal ×2 + 33.34sINFOros2_control_node[2026-09-08 14:02:21.403] [info] Accepted new action goal ×2 + 33.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339423 ms (missed cycles : 2). + 33.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339423 ms (missed cycles : 2).[0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386640 ms (missed cycles : 3). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386640 ms (missed cycles : 3).[0m ×2 + 35.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904032 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904032 ms (missed cycles : 2).[0m ×2 + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191977 ms (missed cycles : 2). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191977 ms (missed cycles : 2).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103948 ms (missed cycles : 5). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103948 ms (missed cycles : 5).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705380 ms (missed cycles : 2). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705380 ms (missed cycles : 2).[0m ×2 + 39.94sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207045 ms (missed cycles : 5). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207045 ms (missed cycles : 5).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937984 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937984 ms (missed cycles : 2).[0m ×2 + 42.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553597 ms (missed cycles : 4). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553597 ms (missed cycles : 4).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.804892 ms (missed cycles : 7). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.804892 ms (missed cycles : 7).[0m ×2 + 44.00sINFOros2_control_node[2026-09-08 14:02:32.067] [info] Received new action goal ×2 + 44.00sINFOros2_control_node[2026-09-08 14:02:32.067] [info] Accepted new action goal ×2 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348113 ms (missed cycles : 5). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348113 ms (missed cycles : 5).[0m ×2 + 45.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788876153.22629094 seconds ×3 + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519473 ms (missed cycles : 2). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519473 ms (missed cycles : 2).[0m ×2 + 45.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.75sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 45.98sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788876154.04506326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981710 ms (missed cycles : 3). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981710 ms (missed cycles : 3).[0m ×2 + 47.25sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 47.27sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.28sINFOros2_control_node[2026-09-08 14:02:35.351] [info] Received new action goal ×2 + 47.28sINFOros2_control_node[2026-09-08 14:02:35.351] [info] Accepted new action goal ×2 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565901 ms (missed cycles : 6). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565901 ms (missed cycles : 6).[0m ×2 + 48.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821325 ms (missed cycles : 2). + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821325 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 100 warnings · 12702 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2082 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2082 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4164 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4164 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282421 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282421 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738806 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738806 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118219 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118219 ms (missed cycles : 2).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.01sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876209.56445575 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOobjective_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: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788876210.20755219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-08 14:03:30.351] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-08 14:03:30.351] [info] Accepted new action goal ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849773 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849773 ms (missed cycles : 2).[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130630 ms (missed cycles : 4). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130630 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685457 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685457 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121826 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121826 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375886 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375886 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854652 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854652 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620778 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620778 ms (missed cycles : 2).[0m ×2 + 10.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711512 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711512 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730631 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730631 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927208 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927208 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542378 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542378 ms (missed cycles : 2).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252923 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252923 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747795 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747795 ms (missed cycles : 2).[0m ×2 + 16.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829031 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829031 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656681 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656681 ms (missed cycles : 3).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152029 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152029 ms (missed cycles : 2).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741128 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741128 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736721 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736721 ms (missed cycles : 2).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 25.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 25.73sINFOobjective_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: ""
+ 25.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.06sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 26.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.08sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 26.08sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 29.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 12.1s | 3 errors · 72 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788876047.08768201 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.82sINFOobjective_server_nodecaller: ×8 + 1.82sINFOobjective_server_nodetype: 0 ×8 + 1.82sINFOobjective_server_nodename: "" ×8 + 1.82sINFOobjective_server_nodeinstance_id: "" ×8 + 1.82sINFOobjective_server_node ×8 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 2.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953086 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.953086 ms (missed cycles : 5).[0m ×2 + 6.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538689 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538689 ms (missed cycles : 4).[0m ×2 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.02sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 1 iterations (0.00301178 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718953 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718953 ms (missed cycles : 4).[0m ×2 + 8.68sINFOros2_control_node[2026-09-08 14:00:54.495] [info] Received new action goal ×2 + 8.68sINFOros2_control_node[2026-09-08 14:00:54.495] [info] Accepted new action goal ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252058 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252058 ms (missed cycles : 5).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227396 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227396 ms (missed cycles : 2).[0m ×2 + 10.98sINFOros2_control_node[2026-09-08 14:00:56.798] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-09-08 14:00:56.798] [info] Accepted new action goal ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004113 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004113 ms (missed cycles : 4).[0m ×2 + 12.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 12.79sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 12.79sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 13.31sWARNros2_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 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 14.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.62sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 15.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.37sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 15.54sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.55sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 15.55sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 68 warnings · 232 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553597 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553597 ms (missed cycles : 4).[0m ×2 + 0.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.87sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.87sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.87sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.87sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.804892 ms (missed cycles : 7). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.804892 ms (missed cycles : 7).[0m ×2 + 1.74sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-08 14:02:32.067] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-08 14:02:32.067] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348113 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348113 ms (missed cycles : 5).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788876153.22629094 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519473 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519473 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.73sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788876154.04506326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981710 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981710 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.04sINFOros2_control_node[2026-09-08 14:02:35.351] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-08 14:02:35.351] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565901 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565901 ms (missed cycles : 6).[0m ×2 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821325 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821325 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165659 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165659 ms (missed cycles : 4).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515305 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515305 ms (missed cycles : 4).[0m ×2 + 8.75sINFOobjective_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 + 8.75sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.75sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.75sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.75sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698218 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698218 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851783 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851783 ms (missed cycles : 2).[0m ×2 + 11.13sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.17sINFOros2_control_node[2026-09-08 14:02:41.479] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-09-08 14:02:41.479] [info] Accepted new action goal ×2 + 11.22sWARNros2_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 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.320976 ms (missed cycles : 8). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.320976 ms (missed cycles : 8).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239061 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239061 ms (missed cycles : 2).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992467 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992467 ms (missed cycles : 3).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788876165.08523154 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201849 ms (missed cycles : 5). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201849 ms (missed cycles : 5).[0m ×2 + 15.38sINFOobjective_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: ""
+ 15.38sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788876165.74838591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.60sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 15.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.61sINFOros2_control_node[2026-09-08 14:02:45.922] [info] Received new action goal ×2 + 15.61sINFOros2_control_node[2026-09-08 14:02:45.922] [info] Accepted new action goal ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356121 ms (missed cycles : 6). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356121 ms (missed cycles : 6).[0m ×2 + 16.88sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.89sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835548 ms (missed cycles : 7). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835548 ms (missed cycles : 7).[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718356 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718356 ms (missed cycles : 2).[0m ×2 + 18.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 6 errors · 72 warnings · 303 info |
+ 0.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.09sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Accepted new action goal ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3).[0m ×2 + 0.49sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Accepted new action goal ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3).[0m ×2 + 1.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_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 + 1.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 1.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 1.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 1.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 1.95sERRORobjective_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: 1788876093.71004820 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.64sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.64sINFOobjective_server_nodecaller: ×8 + 2.64sINFOobjective_server_nodetype: 0 ×8 + 2.64sINFOobjective_server_nodename: "" ×8 + 2.64sINFOobjective_server_nodeinstance_id: "" ×8 + 2.64sINFOobjective_server_node ×8 + 2.69sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.69sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 2.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Live Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Live Surface Coverage Demo ×2 + 2.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788876095.24957299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3).[0m ×2 + 3.61sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Accepted new action goal ×2 + 3.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5).[0m ×2 + 6.13sINFOros2_control_node[2026-09-08 14:01:37.889] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-08 14:01:37.889] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808846 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808846 ms (missed cycles : 4).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382724 ms (missed cycles : 5). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382724 ms (missed cycles : 5).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903976 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903976 ms (missed cycles : 2).[0m ×2 + 9.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210476 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210476 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.788963 ms (missed cycles : 8). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.788963 ms (missed cycles : 8).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632591 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632591 ms (missed cycles : 3).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3).[0m ×2 + 14.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788876106.46123123 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2).[0m ×2 + 15.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.24sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788876107.05702448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788876107.12717724 seconds ×3 + 16.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788876107.91502571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2).[0m ×2 + 16.29sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 16.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.31sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 16.31sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 16.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 18.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 12 errors · 69 warnings · 280 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109338 ms (missed cycles : 5). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109338 ms (missed cycles : 5).[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788876080.53090835 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834423 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834423 ms (missed cycles : 4).[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768850 ms (missed cycles : 2). + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768850 ms (missed cycles : 2).[0m ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.91sINFOobjective_server_nodecaller: ×6 + 2.91sINFOobjective_server_nodetype: 0 ×6 + 2.91sINFOobjective_server_nodename: "" ×6 + 2.91sINFOobjective_server_nodeinstance_id: "" ×6 + 2.91sINFOobjective_server_node ×6 + 2.96sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.96sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.96sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 2.96sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 2.96sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.01sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788876083.23644829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.22sINFOros2_control_node[2026-09-08 14:01:23.450] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-08 14:01:23.450] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373371 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373371 ms (missed cycles : 2).[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713506 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713506 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451594 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451594 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365780 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365780 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054268 ms (missed cycles : 5). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.054268 ms (missed cycles : 5).[0m ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 7.78sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 1 iterations (0.00327258 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.10sINFOobjective_server_nodeFound path in 2 iterations (0.00508302 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 1 iterations (0.00375757 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460777 ms (missed cycles : 5). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460777 ms (missed cycles : 5).[0m ×2 + 8.69sINFOros2_control_node[2026-09-08 14:01:28.914] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-09-08 14:01:28.914] [info] Accepted new action goal ×2 + 9.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724083 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724083 ms (missed cycles : 3).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.24sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.36sINFOobjective_server_nodeFound path in 1 iterations (0.00310093 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.62sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Received new action goal ×2 + 11.62sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Accepted new action goal ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3).[0m ×2 + 12.02sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Received new action goal ×2 + 12.02sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Accepted new action goal ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3).[0m ×2 + 13.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.46sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.46sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.48sERRORobjective_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: 1788876093.71004820 seconds ×3 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4).[0m ×2 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.28sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Live Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 14.28sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 14.28sINFOobjective_server_nodeDetails: Can't find a tree with name: Live Surface Coverage Demo ×2 + 14.28sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 14.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.97sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788876095.24957299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3).[0m ×2 + 15.14sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Accepted new action goal ×2 + 15.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 66 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.558052 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.558052 ms (missed cycles : 6).[0m ×2 + 0.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027796 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027796 ms (missed cycles : 4).[0m ×2 + 1.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.44sINFOros2_control_node[2026-09-08 14:00:35.570] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-09-08 14:00:35.570] [info] Accepted new action goal ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.96sINFOros2_control_node[2026-09-08 14:00:36.086] [info] Got request to cancel active goal. ×2 + 1.96sINFOros2_control_node[2026-09-08 14:00:36.086] [info] Canceling active goal... ×2 + 1.97sERRORobjective_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: 1788876036.10251689 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267469 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267469 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_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: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.51sINFOobjective_server_nodetype: 0 ×6 + 2.51sINFOobjective_server_nodename: "" ×6 + 2.51sINFOobjective_server_nodeinstance_id: "" ×6 + 2.51sINFOobjective_server_node ×6 + 2.57sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.57sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×6 + 2.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788876036.71708679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 2.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:36.941] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:36.941] [info] Accepted new action goal ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077689 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077689 ms (missed cycles : 5).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744700 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744700 ms (missed cycles : 2).[0m ×2 + 4.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 5.08sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.09sINFOros2_control_node[2026-09-08 14:00:39.221] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-09-08 14:00:39.221] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850960 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850960 ms (missed cycles : 2).[0m ×2 + 6.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174305 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174305 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109586 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109586 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944172 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944172 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765534 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765534 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 12.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 12.96sERRORobjective_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: 1788876047.08768201 seconds ×3 + 13.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.51sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 14.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.50sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 14.50sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 73 warnings · 434 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open 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: "Open 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 + 0.33sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.33sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.33sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×12 + 0.33sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.33sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.66sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.40sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.51sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 5.93sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908015 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908015 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821119 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821119 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731736 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731736 ms (missed cycles : 2).[0m ×2 + 9.70sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 9.73sINFOros2_control_node[2026-09-08 14:00:32.220] [info] Received new action goal ×2 + 9.73sINFOros2_control_node[2026-09-08 14:00:32.220] [info] Accepted new action goal ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930248 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930248 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.558052 ms (missed cycles : 6). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.558052 ms (missed cycles : 6).[0m ×2 + 11.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027796 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027796 ms (missed cycles : 4).[0m ×2 + 13.05sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 13.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.08sINFOros2_control_node[2026-09-08 14:00:35.570] [info] Received new action goal ×2 + 13.08sINFOros2_control_node[2026-09-08 14:00:35.570] [info] Accepted new action goal ×2 + 13.58sINFOobjective_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 + 13.59sINFOros2_control_node[2026-09-08 14:00:36.086] [info] Got request to cancel active goal. ×2 + 13.59sINFOros2_control_node[2026-09-08 14:00:36.086] [info] Canceling active goal... ×2 + 13.61sERRORobjective_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: 1788876036.10251689 seconds ×3 + 13.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267469 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267469 ms (missed cycles : 2).[0m ×2 + 14.15sINFOobjective_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: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788876036.71708679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 14.45sINFOros2_control_node[2026-09-08 14:00:36.941] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-09-08 14:00:36.941] [info] Accepted new action goal ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077689 ms (missed cycles : 5). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077689 ms (missed cycles : 5).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744700 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744700 ms (missed cycles : 2).[0m ×2 + 16.71sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 16.72sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.73sINFOros2_control_node[2026-09-08 14:00:39.221] [info] Received new action goal ×2 + 16.73sINFOros2_control_node[2026-09-08 14:00:39.221] [info] Accepted new action goal ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850960 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850960 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 63 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960740 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960740 ms (missed cycles : 2).[0m ×2 + 7.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077865 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077865 ms (missed cycles : 5).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678935 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678935 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130918 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130918 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543246 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543246 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737375 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737375 ms (missed cycles : 4).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.649076 ms (missed cycles : 6). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.649076 ms (missed cycles : 6).[0m ×2 + 14.04sERRORobjective_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: 1788876253.58570099 seconds ×3 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788876254.18772650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.06sINFOros2_control_node[2026-09-08 14:04:14.605] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-08 14:04:14.605] [info] Accepted new action goal ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460731 ms (missed cycles : 4). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460731 ms (missed cycles : 4).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468729 ms (missed cycles : 8). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468729 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 63 warnings · 200 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572540 ms (missed cycles : 3). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572540 ms (missed cycles : 3).[0m ×2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00512128 s). ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685106 ms (missed cycles : 8). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.685106 ms (missed cycles : 8).[0m ×2 + 7.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 2 iterations (0.00500415 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 1 iterations (0.0035903 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.65sINFOros2_control_node[2026-09-08 14:01:17.966] [info] Received new action goal ×2 + 8.65sINFOros2_control_node[2026-09-08 14:01:17.966] [info] Accepted new action goal ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532871 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532871 ms (missed cycles : 2).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435080 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435080 ms (missed cycles : 2).[0m ×2 + 10.91sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109338 ms (missed cycles : 5). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109338 ms (missed cycles : 5).[0m ×2 + 11.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.19sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788876080.53090835 seconds ×3 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834423 ms (missed cycles : 4). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834423 ms (missed cycles : 4).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768850 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768850 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.92sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788876083.23644829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.12sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.13sINFOros2_control_node[2026-09-08 14:01:23.450] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-09-08 14:01:23.450] [info] Accepted new action goal ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373371 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373371 ms (missed cycles : 2).[0m ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713506 ms (missed cycles : 5). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713506 ms (missed cycles : 5).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451594 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451594 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 63 warnings · 240 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.04sWARNros2_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 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.35sINFOobjective_server_nodecaller: ×6 + 2.35sINFOobjective_server_nodetype: 0 ×6 + 2.35sINFOobjective_server_nodename: "" ×6 + 2.35sINFOobjective_server_nodeinstance_id: "" ×6 + 2.35sINFOobjective_server_node ×6 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×6 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.46sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533766 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533766 ms (missed cycles : 2).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599183 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599183 ms (missed cycles : 4).[0m ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.98sINFOros2_control_node[2026-09-08 14:01:07.067] [info] Received new action goal ×2 + 8.98sINFOros2_control_node[2026-09-08 14:01:07.067] [info] Accepted new action goal ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776980 ms (missed cycles : 5). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776980 ms (missed cycles : 5).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437978 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437978 ms (missed cycles : 4).[0m ×2 + 11.33sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 11.34sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 13.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.49sINFOobjective_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 + 13.50sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 13.50sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 13.51sERRORobjective_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: 1788876071.59854269 seconds ×3 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 14.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.08sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.14sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.34sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 14.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.34sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 14.34sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 6 errors · 69 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064104 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064104 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787725 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787725 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726873 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726873 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788876264.19831991 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.68sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.68sINFOobjective_server_nodecaller: ×10 + 2.68sINFOobjective_server_nodetype: 0 ×10 + 2.68sINFOobjective_server_nodename: "" ×10 + 2.68sINFOobjective_server_nodeinstance_id: "" ×10 + 2.68sINFOobjective_server_node ×10 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×12 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×12 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×12 + 2.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788876264.80226851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.88sINFOros2_control_node[2026-09-08 14:04:24.936] [info] Received new action goal ×2 + 2.88sINFOros2_control_node[2026-09-08 14:04:24.936] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204807 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204807 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762142 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762142 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594312 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594312 ms (missed cycles : 6).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877754 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877754 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612031 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612031 ms (missed cycles : 4).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459710 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459710 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127196 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127196 ms (missed cycles : 3).[0m ×2 + 10.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 13.02sINFOobjective_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 + 13.02sERRORobjective_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: 1788876275.08253813 seconds ×3 + 13.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.61sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 13.67sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 13.67sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 13.67sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 13.67sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.05sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 15.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.69sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 15.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.87sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 15.87sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 9 errors · 84 warnings · 512 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.10sERRORobjective_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: 1788876275.08253813 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 1.69sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×16 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×16 + 1.69sINFOobjective_server_nodecaller: ×16 + 1.69sINFOobjective_server_nodetype: 0 ×16 + 1.69sINFOobjective_server_nodename: "" ×16 + 1.69sINFOobjective_server_nodeinstance_id: "" ×16 + 1.69sINFOobjective_server_node ×16 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered: ×16 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×18 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×18 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×18 + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 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 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.25sINFOros2_control_node[2026-09-08 14:04:41.232] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-09-08 14:04:41.232] [info] Accepted new action goal ×2 + 7.25sINFOros2_control_node[2026-09-08 14:04:41.233] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853679 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853679 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961526 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961526 ms (missed cycles : 2).[0m ×2 + 8.58sWARNros2_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 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077806 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077806 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527539 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527539 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2).[0m ×2 + 14.10sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 14.10sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 14.10sERRORobjective_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: 1788876288.08366108 seconds ×3 + 14.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 14.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 15.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 16.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.50sINFOobjective_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 + 16.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 17.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 17.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 63 warnings · 2038 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×304 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×304 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×608 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×608 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895928 ms (missed cycles : 5). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895928 ms (missed cycles : 5).[0m ×2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (1.0302e-05 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 1 iterations (0.00253215 s). ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530222 ms (missed cycles : 4). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530222 ms (missed cycles : 4).[0m ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.88sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.90sINFOros2_control_node[2026-09-08 14:03:57.560] [info] Received new action goal ×2 + 8.90sINFOros2_control_node[2026-09-08 14:03:57.560] [info] Accepted new action goal ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468649 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468649 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 11.20sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 13.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.06sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 13.06sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 13.91sINFOobjective_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 + 13.92sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 13.92sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 13.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 seconds ×3 + 13.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 14.79sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 16.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 60 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543246 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737375 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737375 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.649076 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.649076 ms (missed cycles : 6).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sERRORobjective_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: 1788876253.58570099 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 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_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 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.81sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.81sINFOobjective_server_nodecaller: ×4 + 2.81sINFOobjective_server_nodetype: 0 ×4 + 2.81sINFOobjective_server_nodename: "" ×4 + 2.81sINFOobjective_server_nodeinstance_id: "" ×4 + 2.81sINFOobjective_server_node ×4 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788876254.18772650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:04:14.605] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:04:14.605] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460731 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460731 ms (missed cycles : 4).[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468729 ms (missed cycles : 8). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468729 ms (missed cycles : 8).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032777 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032777 ms (missed cycles : 5).[0m ×2 + 7.29sINFOros2_control_node[2026-09-08 14:04:18.613] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-09-08 14:04:18.613] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012294 ms (missed cycles : 4). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012294 ms (missed cycles : 4).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645496 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645496 ms (missed cycles : 3).[0m ×2 + 9.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.186855 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.186855 ms (missed cycles : 5).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064104 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064104 ms (missed cycles : 5).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787725 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787725 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726873 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726873 ms (missed cycles : 2).[0m ×2 + 12.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788876264.19831991 seconds ×3 + 13.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788876264.80226851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.60sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 13.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.61sINFOros2_control_node[2026-09-08 14:04:24.936] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-09-08 14:04:24.936] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204807 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204807 ms (missed cycles : 2).[0m ×2 + 14.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762142 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762142 ms (missed cycles : 2).[0m ×2 + 15.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594312 ms (missed cycles : 6). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594312 ms (missed cycles : 6).[0m ×2 + 16.69sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.4s | 57 errors · 48 warnings · 415 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876288.08366108 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 0.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.40sINFOobjective_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 + 2.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876292.40116644 seconds ×3 + 4.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4).[0m ×2 + 5.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800746 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800746 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754475 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754475 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.236460 ms (missed cycles : 5). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.236460 ms (missed cycles : 5).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173710 ms (missed cycles : 5). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173710 ms (missed cycles : 5).[0m ×2 + 9.73sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.74sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORweb_video_auth_proxy-23process has died [pid 8760, 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 + 9.74sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.75sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORweb_bridge_auth_proxy-22process has died [pid 8759, 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 + 9.75sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.76sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.76sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.77sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.77sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.78sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.78sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.79sINFOvideo_server-21process has finished cleanly [pid 8758] ×2 + 9.79sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.79sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.80sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.80sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.80sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.81sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.81sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.82sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.82sINFOcontroller_managerShutdown request received.... + 9.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.82sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.82sINFOvideo_server2026/09/08 14:04:57 INF shutting down gracefully ×2 + 9.82sINFOvideo_server2026/09/08 14:04:57 INF [WebRTC] closing ×2 + 9.82sINFOvideo_server2026/09/08 14:04:57 INF [RTSP] closing ×2 + 9.82sINFOvideo_server2026/09/08 14:04:57 INF waiting for running hooks ×2 + 9.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.82sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.82sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.82sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.82sINFOcontroller_managerShutting down the controller manager. + 9.82sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.82sERRORmove_groupStack trace (most recent call last) in thread 9118: ×2 + 9.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.82sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbb277cca63, in __clone ×2 + 9.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbb2773faa3, in ×2 + 9.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbb279d1db3, in ×2 + 9.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fbb28136a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.83sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbb27d63620, in rclcpp::Rate::sleep() ×2 + 9.83sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbb27ca5d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.83sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbb27c67087, in ×2 + 9.83sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbb279a0390, in __cxa_throw ×2 + 9.83sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbb2798aa54, in std::terminate() ×2 + 9.83sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbb279a00d9, in ×2 + 9.83sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbb2798aff4, in ×2 + 9.83sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbb276cb8fe, in abort ×2 + 9.83sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbb276e827d, in raise ×2 + 9.83sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbb27741b2c, in pthread_kill ×2 + 9.83sERRORmove_groupAborted (Signal sent by tkill() 8669 0) ×2 + 9.83sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.84sERRORmove_group-9process has died [pid 8669, 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_clnx9wgl --params-file /tmp/launch_params_utse9zvt --params-file /tmp/launch_params_dc5olmdo --params-file /tmp/launch_params_3eavd0zm --params-file /tmp/launch_params_62mhjxhm --params-file /tmp/launch_params_7jz2oajo']. ×2 + 10.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.03sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.81sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8757] ×2 + 10.81sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.84sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8673] ×2 + 10.84sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8672] ×2 + 10.88sINFOwaypoint_manager_node-11process has finished cleanly [pid 8671] ×2 + 10.89sINFOexecute_objective_bridge-17process has finished cleanly [pid 8677] ×2 + 10.89sINFOui_teleop_bridge-18process has finished cleanly [pid 8678] ×2 + 10.89sINFOcomponent_container_mt-16process has finished cleanly [pid 8676] ×2 + 10.90sINFOparameter_manager_node-10process has finished cleanly [pid 8670] ×2 + 10.97sINFOobjective_server_node[0;m[2026-09-08 14:04:59.045] [moveit_pro_license] [info] ×2 + 10.97sINFOobjective_server_node************************************************* ×4 + 10.97sINFOobjective_server_node* MoveIt Pro License ×2 + 10.97sINFOobjective_server_node* Application has successfully terminated ×2 + 11.10sINFOobjective_server_node_main-14process has finished cleanly [pid 8674] ×2 + 11.10sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.98sINFOcomponent_container_mt-15process has finished cleanly [pid 8675] ×2 + 12.19sINFOweb_bridge-19process has finished cleanly [pid 8679] ×2 + 12.19sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.47sINFOros2_control_node-1process has finished cleanly [pid 8632] ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 4.0s | 43 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788876106.46123123 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.05sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.05sINFOobjective_server_nodecaller: ×6 + 2.05sINFOobjective_server_nodetype: 0 ×6 + 2.05sINFOobjective_server_nodename: "" ×6 + 2.05sINFOobjective_server_nodeinstance_id: "" ×6 + 2.05sINFOobjective_server_node ×6 + 2.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×3 + 2.10sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×6 + 2.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 2.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788876107.05702448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788876107.12717724 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788876107.91502571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 6.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.68sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.83sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.84sINFOobjective_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 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 7.12sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 7.17sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 8.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 10.04sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 10.04sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 43 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_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 + 2.52sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788876288.08366108 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.08sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.08sINFOobjective_server_nodecaller: ×8 + 3.08sINFOobjective_server_nodetype: 0 ×8 + 3.08sINFOobjective_server_nodename: "" ×8 + 3.08sINFOobjective_server_nodeinstance_id: "" ×8 + 3.08sINFOobjective_server_node ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 3.13sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.13sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876292.40116644 seconds ×3 + 6.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4).[0m ×2 + 7.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 55 warnings · 733 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.01sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.01sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.01sWARNros2_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 + 0.01sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.01sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.01sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.01sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.01sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.01sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.01sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.01sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.01sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.01sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.01sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.01sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.01sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.01sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.01sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.01sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.01sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.01sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.01sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.02sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.16sWARNobjective_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 + 0.17sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.17sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.17sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.17sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.17sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.19sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.19sINFOforce_torque_sensor_broadcasterconfigure successful + 0.19sINFOros2_control_nodeconfigure successful[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.25sINFOcomponent_container_mt[2026-09-08 14:00:18.224] [moveit_pro_license] [info] ×2 + 0.25sINFOcomponent_container_mt************************************************* ×4 + 0.25sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.25sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772247 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772247 ms (missed cycles : 2).[0m ×2 + 0.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.52sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.52sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.52sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOros2-2process has finished cleanly [pid 8633] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.88sINFOros2-3process has finished cleanly [pid 8634] ×2 + 0.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.96sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.96sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.97sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_node[2026-09-08 14:00:18.966] [info] Controller state will be published at 10 Hz. ×2 + 0.99sINFOros2_control_node[2026-09-08 14:00:18.967] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 1.33sINFOros2-7process has finished cleanly [pid 8638] ×2 + 1.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.37sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.37sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.38sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.38sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.69sINFOros2-5process has finished cleanly [pid 8636] ×2 + 1.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 1.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 1.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.77sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-09-08 14:00:19.772] [info] Controller state will be published at 20 Hz. ×2 + 1.80sINFOros2_control_node[2026-09-08 14:00:19.773] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.85sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.12sINFOros2-8process has finished cleanly [pid 8639] ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 2.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 2.21sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.22sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.22sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.24sINFOros2_control_node[2026-09-08 14:00:20.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.24sINFOros2_control_node[2026-09-08 14:00:20.212] [info] Controller state will be published at 50 Hz. ×2 + 2.24sINFOros2_control_node[2026-09-08 14:00:20.218] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.46sINFOobjective_server_nodecaller: ×14 + 2.46sINFOobjective_server_nodetype: 0 ×14 + 2.46sINFOobjective_server_nodename: "" ×14 + 2.46sINFOobjective_server_nodeinstance_id: "" ×14 + 2.46sINFOobjective_server_node ×14 + 2.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 2.52sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 2.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 2.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 2.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 2.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 2.62sINFOros2-6process has finished cleanly [pid 8637] ×2 + 2.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.93sINFOros2-4process has finished cleanly [pid 8635] ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.13sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 7.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 7.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.92sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 40 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2).[0m ×2 + 0.49sINFOobjective_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 + 0.49sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 0.49sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 0.49sERRORobjective_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: 1788876288.08366108 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.04sINFOobjective_server_nodecaller: ×8 + 1.04sINFOobjective_server_nodetype: 0 ×8 + 1.04sINFOobjective_server_nodename: "" ×8 + 1.04sINFOobjective_server_nodeinstance_id: "" ×8 + 1.04sINFOobjective_server_node ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 1.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876292.40116644 seconds ×3 + 4.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800746 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800746 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 31 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004113 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004113 ms (missed cycles : 4).[0m ×2 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 1.03sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.55sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.79sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.97sWARNros2_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 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.15sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 29 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_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 + 2.31sERRORobjective_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: 1788876047.08768201 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 44 warnings · 532 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8636] ×2 + 0.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.772] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.773] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 8639] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-08 14:00:20.218] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2).[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.78sINFOobjective_server_nodecaller: ×14 + 0.78sINFOobjective_server_nodetype: 0 ×14 + 0.78sINFOobjective_server_nodename: "" ×14 + 0.78sINFOobjective_server_nodeinstance_id: "" ×14 + 0.78sINFOobjective_server_node ×14 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 0.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.93sINFOros2-6process has finished cleanly [pid 8637] ×2 + 0.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8635] ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_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 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.7s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sERRORobjective_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: 1788876275.08253813 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.69sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.69sINFOobjective_server_nodecaller: ×8 + 1.69sINFOobjective_server_nodetype: 0 ×8 + 1.69sINFOobjective_server_nodename: "" ×8 + 1.69sINFOobjective_server_nodeinstance_id: "" ×8 + 1.69sINFOobjective_server_node ×8 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 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 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 29 warnings · 175 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632591 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788876106.46123123 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788876107.05702448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788876107.12717724 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788876107.91502571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 6 errors · 38 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876275.08253813 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.78sINFOobjective_server_nodeinstance_id: "" ×8 + 2.78sINFOobjective_server_node ×8 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.83sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.83sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 40 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2).[0m ×2 + 0.49sINFOobjective_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 + 0.49sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 0.49sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 0.49sERRORobjective_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: 1788876288.08366108 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.04sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.04sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.04sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.04sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.04sINFOobjective_server_nodecaller: ×8 + 1.04sINFOobjective_server_nodetype: 0 ×8 + 1.04sINFOobjective_server_nodename: "" ×8 + 1.04sINFOobjective_server_nodeinstance_id: "" ×8 + 1.04sINFOobjective_server_node ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.09sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 1.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.09sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 1.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.89sINFOobjective_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 + 2.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225657 ms (missed cycles : 6).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876292.40116644 seconds ×3 + 4.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537367 ms (missed cycles : 4).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800746 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800746 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 28 warnings · 1918 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×304 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×304 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×608 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×608 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 29 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_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 + 2.31sERRORobjective_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: 1788876047.08768201 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 29 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_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 + 2.31sERRORobjective_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: 1788876047.08768201 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 26 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788876047.08768201 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.82sINFOobjective_server_nodecaller: ×4 + 1.82sINFOobjective_server_nodetype: 0 ×4 + 1.82sINFOobjective_server_nodename: "" ×4 + 1.82sINFOobjective_server_nodeinstance_id: "" ×4 + 1.82sINFOobjective_server_node ×4 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 2.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 26 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788876047.08768201 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.82sINFOobjective_server_nodecaller: ×4 + 1.82sINFOobjective_server_nodetype: 0 ×4 + 1.82sINFOobjective_server_nodename: "" ×4 + 1.82sINFOobjective_server_nodeinstance_id: "" ×4 + 1.82sINFOobjective_server_node ×4 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 2.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 26 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788876047.08768201 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.82sINFOobjective_server_nodecaller: ×4 + 1.82sINFOobjective_server_nodetype: 0 ×4 + 1.82sINFOobjective_server_nodename: "" ×4 + 1.82sINFOobjective_server_nodeinstance_id: "" ×4 + 1.82sINFOobjective_server_node ×4 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 2.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 26 warnings · 126 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871190 ms (missed cycles : 5).[0m ×2 + 0.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256859 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sERRORobjective_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: 1788876047.08768201 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 1.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.82sINFOobjective_server_nodecaller: ×4 + 1.82sINFOobjective_server_nodetype: 0 ×4 + 1.82sINFOobjective_server_nodename: "" ×4 + 1.82sINFOobjective_server_nodeinstance_id: "" ×4 + 1.82sINFOobjective_server_node ×4 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 1.86sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788876047.68817544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788876047.77829599 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875273 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788876048.43631482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.80sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 2.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Received new action goal ×2 + 2.81sINFOros2_control_node[2026-09-08 14:00:48.633] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855725 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902323 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 28 warnings · 144 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.04sWARNros2_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 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.46sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 28 warnings · 144 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.04sWARNros2_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 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.46sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 28 warnings · 144 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.04sWARNros2_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 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.46sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 28 warnings · 144 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.04sWARNros2_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 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.46sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 28 warnings · 144 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065689 ms (missed cycles : 3).[0m ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 14:00:58.612] [info] Accepted new action goal ×2 + 1.04sWARNros2_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 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996773 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788876059.89692545 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.40sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788876060.52411222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788876060.60424781 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.472039 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788876061.24597692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:01:01.370] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462762 ms (missed cycles : 2).[0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908107 ms (missed cycles : 5).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.340155 ms (missed cycles : 7).[0m ×2 + 6.46sWARNros2_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 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-09-08 14:01:04.730] [info] Accepted new action goal ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-08 14:01:09.427] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386854 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889487 ms (missed cycles : 2).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-08 14:01:11.586] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788876071.59854269 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736036 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.85sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.85sINFOobjective_server_nodecaller: ×2 + 2.85sINFOobjective_server_nodetype: 0 ×2 + 2.85sINFOobjective_server_nodename: "" ×2 + 2.85sINFOobjective_server_nodeinstance_id: "" ×2 + 2.85sINFOobjective_server_node ×2 + 2.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.90sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788876072.22828507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 14:01:12.432] [info] Accepted new action goal ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.262651 ms (missed cycles : 7).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992280 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 6 errors · 29 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084001 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (5.52e-07 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.72sINFOobjective_server_nodeFound path in 1 iterations (0.00310093 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.98sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-09-08 14:01:31.852] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790658 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-09-08 14:01:32.254] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900094 ms (missed cycles : 3).[0m ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.80sINFOobjective_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 + 2.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_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: 1788876093.71004820 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369186 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×6 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 3.64sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Live Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.64sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.64sINFOobjective_server_nodeDetails: Can't find a tree with name: Live Surface Coverage Demo ×2 + 3.64sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 4.38sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788876095.24957299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490341 ms (missed cycles : 3).[0m ×2 + 4.50sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-09-08 14:01:35.370] [info] Accepted new action goal ×2 + 4.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660993 ms (missed cycles : 5).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184718 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 29 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632591 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211807 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682575 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788876106.46123123 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682931 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.18sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788876107.05702448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788876107.12717724 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788876107.91502571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884546 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:01:48.069] [info] Accepted new action goal ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4). + 0.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438276 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788876110.07519865 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729457 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343453 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.61sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788876111.69604135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_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 + 3.72sINFOobjective_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 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-08 14:01:52.123] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357341 ms (missed cycles : 4).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315478 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079880 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:01:54.990] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 26 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.320976 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.320976 ms (missed cycles : 8).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239061 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239061 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992467 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992467 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788876165.08523154 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOros2_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 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201849 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.201849 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_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: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×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 + 3.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.62sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788876165.74838591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-08 14:02:45.922] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-08 14:02:45.922] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356121 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356121 ms (missed cycles : 6).[0m ×2 + 5.07sINFOobjective_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 + 5.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.13sINFOobjective_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 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835548 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835548 ms (missed cycles : 7).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718356 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718356 ms (missed cycles : 2).[0m ×2 + 6.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 28 warnings · 1918 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×304 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×304 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×608 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×608 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 28 warnings · 1918 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×304 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×304 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×608 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×608 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 28 warnings · 1918 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×304 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×304 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×608 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×608 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 28 warnings · 1918 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×304 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×304 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×608 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×608 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985072 ms (missed cycles : 2).[0m ×2 + 0.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673264 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826813 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788876231.68231034 seconds ×3 + 3.02sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.02sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797965 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788876232.38246393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-08 14:03:52.627] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305276 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295339 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.586344 ms (missed cycles : 5).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 26 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745324 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 14:03:59.863] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850036 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-09-08 14:04:01.726] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908306 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-08 14:04:02.582] [info] Canceling active goal... ×2 + 3.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876242.59787631 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 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026384 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.68sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.68sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.68sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788876243.26513767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-08 14:04:03.459] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401684 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317665 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688611 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543246 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737375 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737375 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.649076 ms (missed cycles : 6). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.649076 ms (missed cycles : 6).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sERRORobjective_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: 1788876253.58570099 seconds ×3 + 2.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.81sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.81sINFOobjective_server_nodecaller: ×2 + 2.81sINFOobjective_server_nodetype: 0 ×2 + 2.81sINFOobjective_server_nodename: "" ×2 + 2.81sINFOobjective_server_nodeinstance_id: "" ×2 + 2.81sINFOobjective_server_node ×2 + 2.86sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.86sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.86sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788876254.18772650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 14:04:14.605] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 14:04:14.605] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460731 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460731 ms (missed cycles : 4).[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092311 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468729 ms (missed cycles : 8). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.468729 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064104 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064104 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787725 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787725 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726873 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726873 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788876264.19831991 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.68sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.68sINFOobjective_server_nodecaller: ×2 + 2.68sINFOobjective_server_nodetype: 0 ×2 + 2.68sINFOobjective_server_nodename: "" ×2 + 2.68sINFOobjective_server_nodeinstance_id: "" ×2 + 2.68sINFOobjective_server_node ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×2 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×2 + 2.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788876264.80226851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 2.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.88sINFOros2_control_node[2026-09-08 14:04:24.936] [info] Received new action goal ×2 + 2.88sINFOros2_control_node[2026-09-08 14:04:24.936] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204807 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204807 ms (missed cycles : 2).[0m ×2 + 3.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762142 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762142 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594312 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594312 ms (missed cycles : 6).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 6 errors · 34 warnings · 266 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_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 + 2.76sERRORobjective_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: 1788876275.08253813 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.36sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.36sINFOobjective_server_nodecaller: ×8 + 3.36sINFOobjective_server_nodetype: 0 ×8 + 3.36sINFOobjective_server_nodename: "" ×8 + 3.36sINFOobjective_server_nodeinstance_id: "" ×8 + 3.36sINFOobjective_server_node ×8 + 3.41sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.41sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.41sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 3.41sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.41sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 3.41sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 3.41sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.41sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 3.41sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.87sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_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 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.49sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.61sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.62sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 5.62sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876275.08253813 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.78sINFOobjective_server_nodeinstance_id: "" ×8 + 2.78sINFOobjective_server_node ×8 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.83sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.83sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876275.08253813 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.78sINFOobjective_server_nodeinstance_id: "" ×8 + 2.78sINFOobjective_server_node ×8 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.83sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.83sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381895 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788876275.08253813 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.78sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.78sINFOobjective_server_nodecaller: ×8 + 2.78sINFOobjective_server_nodetype: 0 ×8 + 2.78sINFOobjective_server_nodename: "" ×8 + 2.78sINFOobjective_server_nodeinstance_id: "" ×8 + 2.78sINFOobjective_server_node ×8 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 2.83sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 2.83sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 2.83sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 2.83sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sERRORobjective_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: 1788876275.08253813 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.69sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.69sINFOobjective_server_nodecaller: ×8 + 1.69sINFOobjective_server_nodetype: 0 ×8 + 1.69sINFOobjective_server_nodename: "" ×8 + 1.69sINFOobjective_server_nodeinstance_id: "" ×8 + 1.69sINFOobjective_server_node ×8 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 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 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sERRORobjective_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: 1788876275.08253813 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.69sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.69sINFOobjective_server_nodecaller: ×8 + 1.69sINFOobjective_server_nodetype: 0 ×8 + 1.69sINFOobjective_server_nodename: "" ×8 + 1.69sINFOobjective_server_nodeinstance_id: "" ×8 + 1.69sINFOobjective_server_node ×8 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 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 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sERRORobjective_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: 1788876275.08253813 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.69sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.69sINFOobjective_server_nodecaller: ×8 + 1.69sINFOobjective_server_nodetype: 0 ×8 + 1.69sINFOobjective_server_nodename: "" ×8 + 1.69sINFOobjective_server_nodeinstance_id: "" ×8 + 1.69sINFOobjective_server_node ×8 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 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 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 6 errors · 35 warnings · 269 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180289 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324413 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sERRORobjective_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: 1788876275.08253813 seconds ×3 + 1.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.69sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 1.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.69sINFOobjective_server_nodecaller: ×8 + 1.69sINFOobjective_server_nodetype: 0 ×8 + 1.69sINFOobjective_server_nodename: "" ×8 + 1.69sINFOobjective_server_nodeinstance_id: "" ×8 + 1.69sINFOobjective_server_node ×8 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 1.74sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Record Surface Coverage Demo
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage + 1.75sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 1.75sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo ×2 + 1.75sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794287 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788876276.48691130 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 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788876276.53704119 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917625 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788876277.18535590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788876277.20908141 seconds ×3 + 3.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788876277.80864000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-09-08 14:04:37.933] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229903 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147393 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 35 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_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 + 2.52sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788876288.08366108 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.08sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.08sINFOobjective_server_nodecaller: ×8 + 3.08sINFOobjective_server_nodetype: 0 ×8 + 3.08sINFOobjective_server_nodename: "" ×8 + 3.08sINFOobjective_server_nodeinstance_id: "" ×8 + 3.08sINFOobjective_server_node ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 3.13sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.13sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 35 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986357 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439019 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694585 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_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 + 2.52sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-09-08 14:04:48.078] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1788876288.08366108 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.08sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.08sINFOobjective_server_nodecaller: ×8 + 3.08sINFOobjective_server_nodetype: 0 ×8 + 3.08sINFOobjective_server_nodename: "" ×8 + 3.08sINFOobjective_server_nodeinstance_id: "" ×8 + 3.08sINFOobjective_server_node ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829915 ms (missed cycles : 2).[0m ×2 + 3.13sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×4 + 3.13sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×8 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788876288.68620062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709630 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788876289.88173389 seconds ×3 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788876290.47732019 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788876290.47944236 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.767632 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788876291.18593740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788876291.18648839 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788876291.78103590 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 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 | 6.8s | 40 errors · 407 warnings · 12321 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/2026-09-08-13-55-21-777740-45d5a03eb9f8-7297 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 0.86sINFOros2_control_node-1process started with pid [7345] + 0.86sINFOmove_group-9process started with pid [7386] + 0.86sINFOparameter_manager_node-10process started with pid [7387] + 0.86sINFOwaypoint_manager_node-11process started with pid [7388] + 0.86sINFOmove_joint_resampler_node-12process started with pid [7389] + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7390] + 0.86sINFOobjective_server_node_main-14process started with pid [7391] + 0.86sINFOcomponent_container_mt-15process started with pid [7392] + 0.86sINFOcomponent_container_mt-16process started with pid [7393] + 0.86sINFOexecute_objective_bridge-17process started with pid [7394] + 0.86sINFOui_teleop_bridge-18process started with pid [7395] + 0.86sINFOweb_bridge-19process started with pid [7396] + 0.86sINFOtf2_web_republisher_node-20process started with pid [7472] + 0.86sINFOvideo_server-21process started with pid [7473] + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7474] + 0.86sINFOweb_video_auth_proxy-23process started with pid [7475] + 0.86sINFOros2-2process started with pid [7346] + 0.86sINFOros2-3process started with pid [7347] + 0.86sINFOros2-4process started with pid [7359] + 0.86sINFOros2-5process started with pid [7360] + 0.86sINFOros2-6process started with pid [7361] + 0.86sINFOros2-7process started with pid [7362] + 0.86sINFOros2-8process started with pid [7363] + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 0.88sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271877 ms (missed cycles : 2).[0m + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 0.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 1.13sINFOvideo_server2026/09/08 13:55:23 INF MediaMTX v1.20.1, linux, amd64 + 1.13sINFOvideo_server2026/09/08 13:55:23 INF configuration loaded from /tmp/moveit-webrtc-x08jqfmd/mediamtx.yml + 1.13sINFOvideo_server2026/09/08 13:55:23 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 1.13sINFOvideo_server2026/09/08 13:55:23 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 1.58sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 1.75sINFOmove_group[2026-09-08 13:55:23.889] [moveit_pro_license] [info] + 1.75sINFOmove_group************************************************* ×6 + 1.75sINFOmove_group* MoveIt Pro License ×3 + 1.75sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 1.99sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 2.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 2.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 2.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 2.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 2.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 2.04sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 2.04sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 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 ×3 + 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 ×3 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 2.17sINFOmove_group ×6 + 2.17sINFOmove_group[92mYou can start planning now![0m ×3 + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543324 ms (missed cycles : 5).[0m + 2.32sINFOwaypoint_manager_node[2026-09-08 13:55:24.469] [moveit_pro_license] [info] + 2.32sINFOwaypoint_manager_node************************************************* ×6 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.61sINFOobjective_server_node[2026-09-08 13:55:25.763] [moveit_pro_license] [info] + 3.61sINFOobjective_server_node************************************************* ×8 + 3.61sINFOobjective_server_node* MoveIt Pro License ×4 + 3.61sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.73sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 3.73sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 3.74sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 3.74sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 3.74sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 3.74sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 3.74sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 3.74sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 3.74sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 3.74sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 4.08sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 4.10sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 4.10sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 4.11sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 4.11sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×3 + 4.11sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×3 + 4.11sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 4.11sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 4.11sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 4.11sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 4.11sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×3 + 4.11sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×3 + 4.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 4.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 4.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 4.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 4.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 4.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 4.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 4.11sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 4.13sINFOcomponent_container_mt[2026-09-08 13:55:26.281] [moveit_pro_license] [info] + 4.13sINFOcomponent_container_mt************************************************* ×6 + 4.13sINFOcomponent_container_mt* MoveIt Pro License ×3 + 4.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 4.14sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 4.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 4.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 4.33sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 4.44sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 4.45sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 4.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 4.46sINFOros2_control_node[2026-09-08 13:55:26.609] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.46sINFOros2_control_node[2026-09-08 13:55:26.609] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 4.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 4.48sINFOros2_control_node[2026-09-08 13:55:26.633] [info] First order lag filter time constant set to: 0.2 seconds + 4.48sINFOros2_control_node[2026-09-08 13:55:26.634] [info] Controller state will be published at 50 Hz. + 4.49sINFOros2_control_node[2026-09-08 13:55:26.641] [info] Registered `FollowJointTrajectory` action server. + 4.60sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×3 + 4.60sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 4.60sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 4.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 4.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 4.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 4.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 4.79sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 4.79sINFOros2_control_nodeconfigure successful[0m ×3 + 4.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 4.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×121 + 4.80sINFOros2-6process has finished cleanly [pid 7361] + 4.80sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348645 ms (missed cycles : 3).[0m + 5.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 5.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 5.11sINFOros2-2process has finished cleanly [pid 7346] + 5.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 5.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 5.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 5.21sINFOros2_control_node[2026-09-08 13:55:27.363] [info] Controller state will be published at 10 Hz. + 5.21sINFOros2_control_node[2026-09-08 13:55:27.364] [info] VelocityForceController 'on_configure' succeeded. + 5.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 5.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 5.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 5.58sINFOros2-7process has finished cleanly [pid 7362] + 5.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 5.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 5.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 5.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 5.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 5.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 5.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×6 + 5.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 5.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 5.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 5.92sINFOros2-5process has finished cleanly [pid 7360] + 5.96sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 5.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 5.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 6.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 6.02sINFOros2_control_node[2026-09-08 13:55:28.172] [info] Controller state will be published at 20 Hz. + 6.02sINFOros2_control_node[2026-09-08 13:55:28.173] [info] JointVelocityController 'on_configure' succeeded. + 6.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 6.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×92 + 6.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×49 + 6.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×47 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×3 + 6.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 6.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 6.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 6.26sINFOros2-8process has finished cleanly [pid 7363] + 6.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 6.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 6.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 6.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 6.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 6.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735790 ms (missed cycles : 2).[0m + 6.62sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 6.62sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 6.62sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_p5b80q1f --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p1s7st7r --params-file /tmp/launch_params_43_ai61n [0m + 6.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 6.65sINFOros2-4process has finished cleanly [pid 7359] + 6.66sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 6.66sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 6.66sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 6.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 6.67sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 6.91sINFOobjective_server_nodeReceived /do_objective goal: ×44 + 6.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 6.91sINFOobjective_server_nodeobjective_xml_string: "" ×44 + 6.91sINFOobjective_server_nodeparameter_overrides: [] ×44 + 6.91sINFOobjective_server_nodecaller: ×44 + 6.91sINFOobjective_server_nodetype: 0 ×44 + 6.91sINFOobjective_server_nodename: "" ×44 + 6.91sINFOobjective_server_nodeinstance_id: "" ×44 + 6.91sINFOobjective_server_node ×44 + 6.98sWARNobjective_server_nodeNot all Objectives could be registered: ×44 + 6.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×46 + 6.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×46 + 6.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×46 + 6.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788875729.13418293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 6.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788875729.14448452 seconds + 6.99sINFOros2-3process has finished cleanly [pid 7347] + 7.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 7.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 7.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984731 ms (missed cycles : 2).[0m + 7.53sINFOobjective_server_nodeobjective_name: "Close Gripper" ×3 + 7.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788875729.73255801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 7.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×22 + 8.15sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444619 ms (missed cycles : 5).[0m + 8.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788875730.84270453 seconds + 9.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×3 + 9.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788875731.45992208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788875731.52010202 seconds + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893342 ms (missed cycles : 3).[0m + 9.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 10.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788875732.17915368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788875732.19928098 seconds + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741746 ms (missed cycles : 2).[0m + 10.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 10.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788875732.80330396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×6 + 10.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788875732.95470905 seconds + 11.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" + 11.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788875733.66787386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.53sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 11.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097288 ms (missed cycles : 3).[0m + 11.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788875733.70799470 seconds + 12.10sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" + 12.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788875734.31580615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 12.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 12.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×3 + 12.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 12.28sINFOobjective_server_nodeFound path in 0 iterations (2.3685e-05 s). + 12.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 12.30sINFOros2_control_node[2026-09-08 13:55:34.452] [info] Received new action goal + 12.30sINFOros2_control_node[2026-09-08 13:55:34.452] [info] Accepted new action goal + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137969 ms (missed cycles : 3).[0m + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520498 ms (missed cycles : 4).[0m + 14.13sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m + 14.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×37 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 14.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.81sINFOros2_control_node[2026-09-08 13:55:36.960] [info] Received new action goal + 14.81sINFOros2_control_node[2026-09-08 13:55:36.960] [info] Accepted new action goal + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314104 ms (missed cycles : 2).[0m + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822879 ms (missed cycles : 3).[0m + 16.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×7 + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846484 ms (missed cycles : 2).[0m + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263707 ms (missed cycles : 5).[0m + 18.58sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 18.61sINFOros2_control_node[2026-09-08 13:55:40.764] [info] Received new action goal + 18.61sINFOros2_control_node[2026-09-08 13:55:40.764] [info] Accepted new action goal + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572159 ms (missed cycles : 3).[0m + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050885 ms (missed cycles : 2).[0m + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960661 ms (missed cycles : 3).[0m + 21.92sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). + 21.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 21.94sINFOros2_control_node[2026-09-08 13:55:44.092] [info] Received new action goal + 21.94sINFOros2_control_node[2026-09-08 13:55:44.092] [info] Accepted new action goal + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793709 ms (missed cycles : 5).[0m + 22.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×7 + 22.34sINFOros2_control_node[2026-09-08 13:55:44.496] [info] Got request to cancel active goal. + 22.34sINFOros2_control_node[2026-09-08 13:55:44.496] [info] Canceling active goal... + 22.36sERRORobjective_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: 1788875744.51428509 seconds + 22.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×27 + 22.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×27 + 22.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×27 + 22.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×6 + 22.95sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" + 23.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788875745.17774367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 23.23sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). + 23.24sINFOros2_control_node[2026-09-08 13:55:45.391] [info] Received new action goal + 23.24sINFOros2_control_node[2026-09-08 13:55:45.391] [info] Accepted new action goal + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683469 ms (missed cycles : 5).[0m + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662657 ms (missed cycles : 2).[0m + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413073 ms (missed cycles : 2).[0m + 25.51sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 25.51sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.52sINFOros2_control_node[2026-09-08 13:55:47.672] [info] Received new action goal + 25.52sINFOros2_control_node[2026-09-08 13:55:47.672] [info] Accepted new action goal + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467664 ms (missed cycles : 2).[0m + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900407 ms (missed cycles : 2).[0m + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272821 ms (missed cycles : 4).[0m + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820490 ms (missed cycles : 2).[0m + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604555 ms (missed cycles : 4).[0m + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421133 ms (missed cycles : 3).[0m + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952761 ms (missed cycles : 2).[0m + 33.24sERRORobjective_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: 1788875755.39830565 seconds + 33.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" + 33.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788875755.99527788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346560 ms (missed cycles : 4).[0m + 33.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788875756.08539152 seconds + 34.52sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" + 34.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788875756.74378705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 34.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 34.78sINFOobjective_server_nodePath shortcutter: [X______X] ×5 + 34.79sINFOros2_control_node[2026-09-08 13:55:56.947] [info] Received new action goal + 34.79sINFOros2_control_node[2026-09-08 13:55:56.947] [info] Accepted new action goal + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754652 ms (missed cycles : 2).[0m + 35.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629608 ms (missed cycles : 3).[0m + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634666 ms (missed cycles : 3).[0m + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181957 ms (missed cycles : 5).[0m + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372373 ms (missed cycles : 2).[0m + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131806 ms (missed cycles : 2).[0m + 40.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 40.59sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 40.88sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). + 40.88sINFOobjective_server_nodePath shortcutter: [X________X] ×7 + 40.90sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). + 41.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×4 + 41.03sINFOobjective_server_nodeFound path in 1 iterations (0.00264458 s). + 41.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 41.31sINFOros2_control_node[2026-09-08 13:56:03.463] [info] Received new action goal + 41.31sINFOros2_control_node[2026-09-08 13:56:03.463] [info] Accepted new action goal + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976623 ms (missed cycles : 2).[0m + 41.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227487 ms (missed cycles : 2).[0m + 43.61sINFOros2_control_node[2026-09-08 13:56:05.766] [info] Received new action goal + 43.61sINFOros2_control_node[2026-09-08 13:56:05.766] [info] Accepted new action goal + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149400 ms (missed cycles : 2).[0m + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397435 ms (missed cycles : 3).[0m + 45.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 45.42sINFOros2_control_node[2026-09-08 13:56:07.578] [info] Received new action goal + 45.42sINFOros2_control_node[2026-09-08 13:56:07.578] [info] Accepted new action goal + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223457 ms (missed cycles : 3).[0m + 46.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788875768.86469197 seconds + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682815 ms (missed cycles : 3).[0m + 47.25sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" + 47.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788875769.50257802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 47.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788875769.55357528 seconds + 47.99sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" + 48.04sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788875770.19763494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.982922 ms (missed cycles : 6).[0m + 48.15sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). + 48.16sINFOobjective_server_nodePath shortcutter: [X_____________X] + 48.17sINFOros2_control_node[2026-09-08 13:56:10.322] [info] Received new action goal + 48.17sINFOros2_control_node[2026-09-08 13:56:10.322] [info] Accepted new action goal + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966147 ms (missed cycles : 5).[0m + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169724 ms (missed cycles : 7).[0m + 51.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851836 ms (missed cycles : 5).[0m + 51.51sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). + 51.52sINFOros2_control_node[2026-09-08 13:56:13.671] [info] Received new action goal + 51.52sINFOros2_control_node[2026-09-08 13:56:13.671] [info] Accepted new action goal + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406866 ms (missed cycles : 4).[0m + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.247911 ms (missed cycles : 5).[0m + 53.86sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). + 53.87sINFOros2_control_node[2026-09-08 13:56:16.019] [info] Received new action goal + 53.87sINFOros2_control_node[2026-09-08 13:56:16.019] [info] Accepted new action goal + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.177779 ms (missed cycles : 8).[0m + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766671 ms (missed cycles : 2).[0m + 56.22sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 56.24sINFOros2_control_node[2026-09-08 13:56:18.389] [info] Received new action goal + 56.24sINFOros2_control_node[2026-09-08 13:56:18.389] [info] Accepted new action goal + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818250 ms (missed cycles : 2).[0m + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244093 ms (missed cycles : 2).[0m + 58.34sINFOros2_control_node[2026-09-08 13:56:20.497] [info] Got request to cancel active goal. + 58.34sINFOros2_control_node[2026-09-08 13:56:20.497] [info] Canceling active goal... + 58.36sERRORobjective_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: 1788875780.51039696 seconds + 58.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934931 ms (missed cycles : 2).[0m + 58.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" + 59.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788875781.15683866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 59.21sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). + 59.22sINFOros2_control_node[2026-09-08 13:56:21.371] [info] Received new action goal + 59.22sINFOros2_control_node[2026-09-08 13:56:21.371] [info] Accepted new action goal + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046806 ms (missed cycles : 4).[0m + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991039 ms (missed cycles : 2).[0m + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111991 ms (missed cycles : 2).[0m + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306920 ms (missed cycles : 5).[0m + 63.21sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). + 63.21sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). + 63.22sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 63.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 63.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 63.31sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). + 63.41sINFOobjective_server_nodeFound path in 1 iterations (0.00263518 s). + 63.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 63.58sINFOobjective_server_nodeFound path in 2 iterations (0.0050234 s). + 63.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 63.72sINFOobjective_server_nodeFound path in 1 iterations (0.00359726 s). + 63.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 63.90sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774741 ms (missed cycles : 2).[0m + 64.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 64.28sINFOros2_control_node[2026-09-08 13:56:26.434] [info] Received new action goal + 64.28sINFOros2_control_node[2026-09-08 13:56:26.434] [info] Accepted new action goal + 64.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.515688 ms (missed cycles : 4).[0m + 66.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688661 ms (missed cycles : 2).[0m + 66.53sINFOparameter_manager_nodeRetrieving pose from parameter manager. + 66.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×5 + 66.81sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 66.81sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server + 66.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788875788.98905897 seconds + 67.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275391 ms (missed cycles : 3).[0m + 68.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846823 ms (missed cycles : 2).[0m + 69.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216172 ms (missed cycles : 2).[0m + 69.78sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" + 69.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788875792.03437948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 70.07sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). + 70.09sINFOros2_control_node[2026-09-08 13:56:32.239] [info] Received new action goal + 70.09sINFOros2_control_node[2026-09-08 13:56:32.239] [info] Accepted new action goal + 70.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802859 ms (missed cycles : 5).[0m + 71.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148553 ms (missed cycles : 3).[0m + 72.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505030 ms (missed cycles : 3).[0m + 73.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665618 ms (missed cycles : 4).[0m + 74.12sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). + 74.12sINFOobjective_server_nodeFound path in 0 iterations (4.73e-07 s). + 74.13sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 74.14sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). + 74.23sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). + 74.32sINFOobjective_server_nodeFound path in 1 iterations (0.00305168 s). + 74.49sINFOobjective_server_nodeFound path in 2 iterations (0.00521469 s). + 74.63sINFOobjective_server_nodeFound path in 1 iterations (0.003455 s). + 74.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310114 ms (missed cycles : 3).[0m + 74.78sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×3 + 75.06sINFOros2_control_node[2026-09-08 13:56:37.211] [info] Received new action goal + 75.06sINFOros2_control_node[2026-09-08 13:56:37.211] [info] Accepted new action goal + 75.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.691616 ms (missed cycles : 5).[0m + 76.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003531 ms (missed cycles : 7).[0m + 77.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). + 77.48sINFOobjective_server_nodePath shortcutter: [X_X] + 77.48sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 77.49sINFOobjective_server_nodePath shortcutter: [X______________X] + 77.50sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). + 77.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] + 77.62sINFOobjective_server_nodeFound path in 1 iterations (0.00338461 s). + 77.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] + 77.86sINFOros2_control_node[2026-09-08 13:56:40.010] [info] Received new action goal + 77.86sINFOros2_control_node[2026-09-08 13:56:40.010] [info] Accepted new action goal + 78.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321708 ms (missed cycles : 2).[0m + 78.26sINFOros2_control_node[2026-09-08 13:56:40.412] [info] Received new action goal + 78.26sINFOros2_control_node[2026-09-08 13:56:40.412] [info] Accepted new action goal + 79.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853624 ms (missed cycles : 2).[0m + 80.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086340 ms (missed cycles : 5).[0m + 80.24sINFOros2_control_nodeGot request to cancel goal[0m ×15 + 80.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×8 + 80.26sERRORobjective_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: 1788875802.41834760 seconds + 80.96sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" + 81.06sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Live Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? + 81.06sINFOobjective_server_nodeDetails: Can't find a tree with name: Live Surface Coverage Demo + 81.06sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 81.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194543 ms (missed cycles : 2).[0m + 81.72sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" + 81.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788875803.93058205 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 81.88sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). + 81.89sINFOros2_control_node[2026-09-08 13:56:44.044] [info] Received new action goal + 81.89sINFOros2_control_node[2026-09-08 13:56:44.044] [info] Accepted new action goal + 82.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030378 ms (missed cycles : 5).[0m + 83.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097568 ms (missed cycles : 2).[0m + 84.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039597 ms (missed cycles : 2).[0m + 84.41sINFOros2_control_node[2026-09-08 13:56:46.559] [info] Received new action goal + 84.41sINFOros2_control_node[2026-09-08 13:56:46.559] [info] Accepted new action goal + 85.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889504 ms (missed cycles : 3).[0m + 86.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025317 ms (missed cycles : 2).[0m + 87.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.057780 ms (missed cycles : 8).[0m + 88.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.227196 ms (missed cycles : 5).[0m + 89.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113491 ms (missed cycles : 4).[0m + 90.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850316 ms (missed cycles : 2).[0m + 91.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.002289 ms (missed cycles : 7).[0m + 92.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788875815.12089515 seconds + 93.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344222 ms (missed cycles : 3).[0m + 93.51sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" + 93.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788875815.72005129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 93.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 93.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 93.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 93.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788875815.78019381 seconds + 94.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466736 ms (missed cycles : 4).[0m + 94.36sINFOobjective_server_nodeobjective_name: "Look at Table" + 94.42sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788875816.56972837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 94.52sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). + 94.53sINFOros2_control_node[2026-09-08 13:56:56.683] [info] Received new action goal + 94.53sINFOros2_control_node[2026-09-08 13:56:56.683] [info] Accepted new action goal + 95.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863161 ms (missed cycles : 5).[0m + 96.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711193 ms (missed cycles : 2).[0m + 96.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788875818.68985391 seconds + 97.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.608330 ms (missed cycles : 6).[0m + 98.08sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" + 98.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788875820.30367446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.23sINFOobjective_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 + 98.24sINFOobjective_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 + 98.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670795 ms (missed cycles : 2).[0m + 98.51sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 98.52sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 98.56sINFOros2_control_node[2026-09-08 13:57:00.710] [info] Received new action goal + 98.56sINFOros2_control_node[2026-09-08 13:57:00.710] [info] Accepted new action goal + 99.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002209 ms (missed cycles : 3).[0m +100.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348772 ms (missed cycles : 5).[0m +101.40sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). +101.41sINFOros2_control_node[2026-09-08 13:57:03.568] [info] Received new action goal +101.41sINFOros2_control_node[2026-09-08 13:57:03.568] [info] Accepted new action goal +101.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696936 ms (missed cycles : 2).[0m +102.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668221 ms (missed cycles : 2).[0m +103.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161330 ms (missed cycles : 2).[0m +104.74sINFOros2_control_node[2026-09-08 13:57:06.888] [info] Received new action goal +104.74sINFOros2_control_node[2026-09-08 13:57:06.889] [info] Accepted new action goal +105.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953422 ms (missed cycles : 2).[0m +106.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724020 ms (missed cycles : 2).[0m +107.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625437 ms (missed cycles : 3).[0m +107.78sINFOros2_control_node[2026-09-08 13:57:09.932] [info] Received new action goal +107.78sINFOros2_control_node[2026-09-08 13:57:09.932] [info] Accepted new action goal +108.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.047358 ms (missed cycles : 5).[0m +108.68sWARNros2_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 +109.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870163 ms (missed cycles : 4).[0m +110.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973399 ms (missed cycles : 5).[0m +110.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×5 +110.75sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +110.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×5 +110.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×5 +110.76sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +111.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149793 ms (missed cycles : 5).[0m +112.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893057 ms (missed cycles : 3).[0m +113.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138013 ms (missed cycles : 2).[0m +114.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184920 ms (missed cycles : 2).[0m +115.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.713303 ms (missed cycles : 5).[0m +116.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802534 ms (missed cycles : 3).[0m +117.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 +117.51sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +117.51sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +117.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312529 ms (missed cycles : 2).[0m +118.44sINFOros2_control_node[2026-09-08 13:57:20.597] [info] Received new action goal +118.44sINFOros2_control_node[2026-09-08 13:57:20.597] [info] Accepted new action goal +118.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079836 ms (missed cycles : 5).[0m +119.61sINFOobjective_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 +119.62sINFOobjective_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 +119.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892308 ms (missed cycles : 2).[0m +119.90sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). +119.95sINFOros2_control_node[2026-09-08 13:57:22.102] [info] Received new action goal +119.95sINFOros2_control_node[2026-09-08 13:57:22.102] [info] Accepted new action goal +120.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197813 ms (missed cycles : 4).[0m +122.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.470137 ms (missed cycles : 8).[0m +122.07sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). +122.08sINFOobjective_server_nodePath shortcutter: [X__________X] +122.09sINFOros2_control_node[2026-09-08 13:57:24.243] [info] Received new action goal +122.09sINFOros2_control_node[2026-09-08 13:57:24.243] [info] Accepted new action goal +123.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393721 ms (missed cycles : 3).[0m +124.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233829 ms (missed cycles : 5).[0m +125.23sINFOros2_control_node[2026-09-08 13:57:27.388] [info] Received new action goal +125.23sINFOros2_control_node[2026-09-08 13:57:27.388] [info] Accepted new action goal +125.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563760 ms (missed cycles : 3).[0m +126.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931354 ms (missed cycles : 3).[0m +127.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.037444 ms (missed cycles : 8).[0m +127.83sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). +127.89sINFOros2_control_node[2026-09-08 13:57:30.041] [info] Received new action goal +127.89sINFOros2_control_node[2026-09-08 13:57:30.041] [info] Accepted new action goal +128.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924610 ms (missed cycles : 5).[0m +129.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595558 ms (missed cycles : 2).[0m +130.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927347 ms (missed cycles : 3).[0m +131.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718362 ms (missed cycles : 2).[0m +132.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.671873 ms (missed cycles : 5).[0m +133.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480149 ms (missed cycles : 2).[0m +135.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477930 ms (missed cycles : 6).[0m +136.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505820 ms (missed cycles : 2).[0m +137.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078658 ms (missed cycles : 5).[0m +138.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598020 ms (missed cycles : 3).[0m +138.60sINFOros2_control_node[2026-09-08 13:57:40.757] [info] Received new action goal +138.60sINFOros2_control_node[2026-09-08 13:57:40.757] [info] Accepted new action goal +139.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580356 ms (missed cycles : 4).[0m +139.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788875861.91390705 seconds +140.34sINFOobjective_server_nodeobjective_name: "Push Button" +140.54sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788875862.69194579 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +140.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296824 ms (missed cycles : 5).[0m +141.76sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). +141.78sINFOobjective_server_nodePath shortcutter: [X__________________________X] +141.79sINFOros2_control_node[2026-09-08 13:57:43.948] [info] Received new action goal +141.79sINFOros2_control_node[2026-09-08 13:57:43.948] [info] Accepted new action goal +141.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146524 ms (missed cycles : 2).[0m +142.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074101 ms (missed cycles : 4).[0m +144.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915276 ms (missed cycles : 2).[0m +145.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862865 ms (missed cycles : 3).[0m +145.74sWARNros2_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 +146.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915242 ms (missed cycles : 2).[0m +147.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786377 ms (missed cycles : 5).[0m +147.90sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). +147.92sINFOobjective_server_nodePath shortcutter: [X________________________X] +147.94sINFOros2_control_node[2026-09-08 13:57:50.090] [info] Received new action goal +147.94sINFOros2_control_node[2026-09-08 13:57:50.090] [info] Accepted new action goal +148.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.853608 ms (missed cycles : 9).[0m +149.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094975 ms (missed cycles : 2).[0m +150.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433148 ms (missed cycles : 2).[0m +151.54sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788875873.69210982 seconds +151.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485762 ms (missed cycles : 4).[0m +152.13sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" +152.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788875874.34048176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +152.35sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). +152.35sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +152.36sINFOros2_control_node[2026-09-08 13:57:54.514] [info] Received new action goal +152.36sINFOros2_control_node[2026-09-08 13:57:54.514] [info] Accepted new action goal +152.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m +152.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.793614 ms (missed cycles : 6).[0m +153.63sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×2 +153.63sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +153.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761328 ms (missed cycles : 2).[0m +155.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880947 ms (missed cycles : 2).[0m +155.79sINFOros2_control_nodeReceived new action goal[0m ×5023 +155.79sINFOros2_control_nodeAccepted new action goal[0m ×5023 +156.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949403 ms (missed cycles : 2).[0m +157.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810953 ms (missed cycles : 2).[0m +158.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993900 ms (missed cycles : 3).[0m +159.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972622 ms (missed cycles : 2).[0m +159.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m +160.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605704 ms (missed cycles : 2).[0m +160.70sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +161.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128596 ms (missed cycles : 2).[0m +162.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676993 ms (missed cycles : 3).[0m +163.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.382445 ms (missed cycles : 6).[0m +164.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692096 ms (missed cycles : 2).[0m +165.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894898 ms (missed cycles : 2).[0m +166.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838566 ms (missed cycles : 2).[0m +166.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m +167.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722029 ms (missed cycles : 2).[0m +168.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751042 ms (missed cycles : 2).[0m +169.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785584 ms (missed cycles : 2).[0m +170.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467671 ms (missed cycles : 2).[0m +171.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682282 ms (missed cycles : 2).[0m +172.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126552 ms (missed cycles : 2).[0m +173.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106528 ms (missed cycles : 2).[0m +173.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m +174.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417937 ms (missed cycles : 2).[0m +175.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112153 ms (missed cycles : 2).[0m +176.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079630 ms (missed cycles : 2).[0m +177.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364056 ms (missed cycles : 2).[0m +178.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767738 ms (missed cycles : 2).[0m +179.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758124 ms (missed cycles : 2).[0m +180.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785163 ms (missed cycles : 2).[0m +180.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 +181.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218354 ms (missed cycles : 2).[0m +182.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961445 ms (missed cycles : 3).[0m +183.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.519441 ms (missed cycles : 8).[0m +184.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752200 ms (missed cycles : 2).[0m +185.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766532 ms (missed cycles : 2).[0m +186.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440854 ms (missed cycles : 2).[0m +187.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.170050 ms (missed cycles : 7).[0m +187.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 +188.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863232 ms (missed cycles : 2).[0m +189.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510805 ms (missed cycles : 2).[0m +190.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902645 ms (missed cycles : 2).[0m +191.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169897 ms (missed cycles : 2).[0m +192.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906064 ms (missed cycles : 2).[0m +193.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443954 ms (missed cycles : 3).[0m +194.13sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m +194.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849266 ms (missed cycles : 2).[0m +196.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755630 ms (missed cycles : 2).[0m +196.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788875918.15840936 seconds +196.55sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" +196.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788875918.79603624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +196.85sINFOros2_control_node[2026-09-08 13:58:39.000] [info] Received new action goal +196.85sINFOros2_control_node[2026-09-08 13:58:39.000] [info] Accepted new action goal +197.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137078 ms (missed cycles : 4).[0m +198.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970589 ms (missed cycles : 2).[0m +199.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847832 ms (missed cycles : 2).[0m +200.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555478 ms (missed cycles : 2).[0m +201.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722648 ms (missed cycles : 5).[0m +202.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229707 ms (missed cycles : 2).[0m +203.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630094 ms (missed cycles : 2).[0m +204.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032241 ms (missed cycles : 2).[0m +205.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820477 ms (missed cycles : 2).[0m +206.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391683 ms (missed cycles : 2).[0m +207.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699560 ms (missed cycles : 2).[0m +208.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682122 ms (missed cycles : 2).[0m +209.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874199 ms (missed cycles : 2).[0m +210.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2).[0m +211.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091239 ms (missed cycles : 2).[0m +212.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942183 ms (missed cycles : 5).[0m +213.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703804 ms (missed cycles : 2).[0m +214.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110771 ms (missed cycles : 2).[0m +215.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029185 ms (missed cycles : 2).[0m +216.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958079 ms (missed cycles : 3).[0m +217.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853267 ms (missed cycles : 2).[0m +218.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788875940.32200718 seconds +218.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232131 ms (missed cycles : 2).[0m +218.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" +218.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788875941.02470136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +219.06sINFOros2_control_node[2026-09-08 13:59:01.218] [info] Received new action goal +219.07sINFOros2_control_node[2026-09-08 13:59:01.218] [info] Accepted new action goal +219.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756518 ms (missed cycles : 2).[0m +221.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932916 ms (missed cycles : 3).[0m +222.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884097 ms (missed cycles : 3).[0m +223.28sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). +223.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911662 ms (missed cycles : 2).[0m +223.30sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). +223.41sINFOobjective_server_nodeFound path in 1 iterations (0.002563 s). +223.61sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +223.63sINFOros2_control_node[2026-09-08 13:59:05.782] [info] Received new action goal +223.63sINFOros2_control_node[2026-09-08 13:59:05.782] [info] Accepted new action goal +224.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511958 ms (missed cycles : 4).[0m +225.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703150 ms (missed cycles : 2).[0m +225.93sINFOros2_control_node[2026-09-08 13:59:08.084] [info] Received new action goal +225.93sINFOros2_control_node[2026-09-08 13:59:08.084] [info] Accepted new action goal +226.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154571 ms (missed cycles : 2).[0m +227.70sINFOros2_control_node[2026-09-08 13:59:09.849] [info] Received new action goal +227.70sINFOros2_control_node[2026-09-08 13:59:09.849] [info] Accepted new action goal +227.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140329 ms (missed cycles : 2).[0m +228.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727041 ms (missed cycles : 3).[0m +228.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788875951.13487554 seconds +229.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" +229.90sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788875952.05101228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +229.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950499 ms (missed cycles : 4).[0m +230.08sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). +230.09sINFOros2_control_node[2026-09-08 13:59:12.245] [info] Received new action goal +230.09sINFOros2_control_node[2026-09-08 13:59:12.245] [info] Accepted new action goal +231.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.217230 ms (missed cycles : 7).[0m +232.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +232.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.630640 ms (missed cycles : 4).[0m +233.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907492 ms (missed cycles : 5).[0m +234.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214645 ms (missed cycles : 2).[0m +235.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233410 ms (missed cycles : 2).[0m +236.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151328 ms (missed cycles : 2).[0m +237.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003106 ms (missed cycles : 5).[0m +237.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.63 s); wrist_camera (1.63 s). The render path has stopped producing new frames for them.[0m +238.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958146 ms (missed cycles : 4).[0m +239.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721012 ms (missed cycles : 3).[0m +240.25sERRORobjective_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: 1788875962.40158176 seconds +240.79sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" +240.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788875963.00852156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +240.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665063 ms (missed cycles : 6).[0m +241.13sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). +241.15sINFOros2_control_node[2026-09-08 13:59:23.302] [info] Received new action goal +241.15sINFOros2_control_node[2026-09-08 13:59:23.302] [info] Accepted new action goal +241.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.647619 ms (missed cycles : 6).[0m +243.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813002 ms (missed cycles : 2).[0m +243.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m +244.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684474 ms (missed cycles : 3).[0m +245.16sINFOros2_control_node[2026-09-08 13:59:27.311] [info] Received new action goal +245.16sINFOros2_control_node[2026-09-08 13:59:27.311] [info] Accepted new action goal +245.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005595 ms (missed cycles : 2).[0m +246.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193191 ms (missed cycles : 2).[0m +247.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847278 ms (missed cycles : 3).[0m +248.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195431 ms (missed cycles : 4).[0m +249.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287989 ms (missed cycles : 2).[0m +250.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519373 ms (missed cycles : 3).[0m +250.65sWARNros2_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 +250.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788875972.89553881 seconds +251.28sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" +251.34sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788875973.49776030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +251.49sINFOros2_control_node[2026-09-08 13:59:33.642] [info] Received new action goal +251.49sINFOros2_control_node[2026-09-08 13:59:33.642] [info] Accepted new action goal +251.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.856263 ms (missed cycles : 5).[0m +252.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062589 ms (missed cycles : 4).[0m +253.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739648 ms (missed cycles : 2).[0m +254.14sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m +254.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728428 ms (missed cycles : 2).[0m +255.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245556 ms (missed cycles : 3).[0m +256.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130507 ms (missed cycles : 4).[0m +257.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.514346 ms (missed cycles : 6).[0m +258.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412639 ms (missed cycles : 3).[0m +260.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527378 ms (missed cycles : 2).[0m +261.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515726 ms (missed cycles : 2).[0m +261.74sERRORobjective_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: 1788875983.89801764 seconds +262.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173059 ms (missed cycles : 3).[0m +262.33sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" +262.39sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Record Surface Coverage Demo`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? +262.39sINFOobjective_server_nodeDetails: Can't find a tree with name: Record Surface Coverage Demo +263.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" +263.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788875985.30085754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +263.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611108 ms (missed cycles : 3).[0m +263.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788875985.35100222 seconds +263.76sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" +263.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788875985.96997786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +263.84sINFOobjective_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 '' +263.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788875985.99208975 seconds +264.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848128 ms (missed cycles : 3).[0m +264.38sINFOobjective_server_nodeobjective_name: "Stationary Admittance" +264.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788875986.59082055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +264.56sINFOros2_control_node[2026-09-08 13:59:46.713] [info] Received new action goal +264.56sINFOros2_control_node[2026-09-08 13:59:46.713] [info] Accepted new action goal +265.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243298 ms (missed cycles : 2).[0m +266.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974712 ms (missed cycles : 3).[0m +267.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047234 ms (missed cycles : 2).[0m +267.87sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +267.87sINFOros2_control_node[2026-09-08 13:59:50.024] [info] Received new action goal +267.87sINFOros2_control_node[2026-09-08 13:59:50.024] [info] Accepted new action goal +267.87sINFOros2_control_node[2026-09-08 13:59:50.025] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +268.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.251362 ms (missed cycles : 8).[0m +269.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746228 ms (missed cycles : 4).[0m +270.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324265 ms (missed cycles : 3).[0m +271.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107357 ms (missed cycles : 4).[0m +272.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.787599 ms (missed cycles : 6).[0m +274.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244915 ms (missed cycles : 2).[0m +274.75sINFOros2_control_node[2026-09-08 13:59:56.901] [info] Got request to cancel active goal. +274.75sINFOros2_control_node[2026-09-08 13:59:56.901] [info] Canceling active goal... +274.75sERRORobjective_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: 1788875996.90572143 seconds +275.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581329 ms (missed cycles : 5).[0m +275.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" +275.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788875997.51952600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +275.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788875998.01963925 seconds +276.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828651 ms (missed cycles : 3).[0m +276.41sINFOobjective_server_nodeobjective_name: "Vector and String Example" +276.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788875998.61495113 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +276.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +276.46sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +276.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +276.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788875998.61723924 seconds +276.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m +277.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" +277.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788875999.34408307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +277.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788875999.34468174 seconds +277.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515710 ms (missed cycles : 6).[0m +277.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +277.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788875999.94077802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +278.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926594 ms (missed cycles : 2).[0m +278.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788876001.13290548 seconds +279.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +279.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958720 ms (missed cycles : 5).[0m +280.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733401 ms (missed cycles : 3).[0m +281.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711984 ms (missed cycles : 2).[0m +282.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559643 ms (missed cycles : 6).[0m +283.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685494 ms (missed cycles : 2).[0m +284.69sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.69sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.69sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.70sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +284.71sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +284.71sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +284.71sERRORweb_video_auth_proxy-23process has died [pid 7475, 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']. +284.71sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +284.72sERRORweb_bridge_auth_proxy-22process has died [pid 7474, 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']. +284.72sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +284.72sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +284.73sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +284.73sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +284.73sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +284.74sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +284.74sINFOvideo_server-21process has finished cleanly [pid 7473] +284.74sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +284.75sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +284.75sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +284.76sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +284.76sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +284.77sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +284.77sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +284.77sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +284.78sINFOvideo_server2026/09/08 14:00:06 INF shutting down gracefully +284.78sINFOvideo_server2026/09/08 14:00:06 INF [WebRTC] closing +284.78sINFOvideo_server2026/09/08 14:00:06 INF [RTSP] closing +284.78sINFOvideo_server2026/09/08 14:00:06 INF waiting for running hooks +284.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +284.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +284.78sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +284.78sERRORmove_groupwhat(): context cannot be slept with because it's invalid +284.78sERRORmove_groupStack trace (most recent call last) in thread 7820: +284.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +284.78sINFOros2_control_nodeShutdown request received....[0m +284.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +284.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +284.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +284.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +284.78sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +284.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +284.78sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +284.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +284.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +284.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +284.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +284.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +284.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +284.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +284.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7118cdda63, in __clone +284.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7118c50aa3, in +284.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +284.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +284.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +284.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +284.78sINFOros2_control_nodeShutting down the controller manager.[0m +284.78sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +284.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7118ee2db3, in +284.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f7119647a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +284.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7119274620, in rclcpp::Rate::sleep() +284.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f71191b6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +284.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7119178087, in +284.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7118eb1390, in __cxa_throw +284.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7118e9ba54, in std::terminate() +284.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7118eb10d9, in +284.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7118e9bff4, in +284.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7118bdc8fe, in abort +284.79sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7118bf927d, in raise +284.79sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7118c52b2c, in pthread_kill +284.79sERRORmove_groupAborted (Signal sent by tkill() 7386 0) +284.79sWARNparameter_manager_nodeROS node was shutdown. +284.79sERRORmove_group-9process has died [pid 7386, 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_uf7bhzhe --params-file /tmp/launch_params_n4_epnk_ --params-file /tmp/launch_params_2nxgk8de --params-file /tmp/launch_params__9gb5dmw --params-file /tmp/launch_params_6oewesoz --params-file /tmp/launch_params_m9mdsnlc']. +284.98sINFOros2_control_nodeAsync messages lost 0[0m ×2 +284.98sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 +285.77sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7472] +285.77sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +285.79sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7390] +285.80sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7389] +285.83sINFOexecute_objective_bridge-17process has finished cleanly [pid 7394] +285.83sINFOwaypoint_manager_node-11process has finished cleanly [pid 7388] +285.84sINFOcomponent_container_mt-16process has finished cleanly [pid 7393] +285.84sINFOui_teleop_bridge-18process has finished cleanly [pid 7395] +285.84sINFOparameter_manager_node-10process has finished cleanly [pid 7387] +285.96sINFOobjective_server_node[0;m[2026-09-08 14:00:08.114] [moveit_pro_license] [info] +285.96sINFOobjective_server_node* Application has successfully terminated +286.10sINFOobjective_server_node_main-14process has finished cleanly [pid 7391] +286.10sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +286.80sINFOweb_bridge-19process has finished cleanly [pid 7396] +286.80sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +286.94sINFOcomponent_container_mt-15process has finished cleanly [pid 7392] +287.41sINFOros2_control_node-1process has finished cleanly [pid 7345] +291.93sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-08-14-00-13-704720-45d5a03eb9f8-8584 ×2 +292.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +292.58sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +292.58sINFOcontroller_managerupdate rate is 600 Hz +292.58sINFOcontroller_managerOverruns handling is : enabled +292.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +292.58sWARNcontroller_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. +292.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157423 ms (missed cycles : 3). +292.77sINFOros2_control_node-1process started with pid [8632] ×2 +292.77sINFOmove_group-9process started with pid [8669] ×2 +292.77sINFOparameter_manager_node-10process started with pid [8670] ×2 +292.77sINFOwaypoint_manager_node-11process started with pid [8671] ×2 +292.77sINFOmove_joint_resampler_node-12process started with pid [8672] ×2 +292.77sINFOmove_end_effector_resampler_node-13process started with pid [8673] ×2 +292.77sINFOobjective_server_node_main-14process started with pid [8674] ×2 +292.77sINFOcomponent_container_mt-15process started with pid [8675] ×2 +292.77sINFOcomponent_container_mt-16process started with pid [8676] ×2 +292.77sINFOexecute_objective_bridge-17process started with pid [8677] ×2 +292.77sINFOui_teleop_bridge-18process started with pid [8678] ×2 +292.78sINFOweb_bridge-19process started with pid [8679] ×2 +292.78sINFOtf2_web_republisher_node-20process started with pid [8757] ×2 +292.78sINFOvideo_server-21process started with pid [8758] ×2 +292.78sINFOweb_bridge_auth_proxy-22process started with pid [8759] ×2 +292.78sINFOweb_video_auth_proxy-23process started with pid [8760] ×2 +292.78sINFOros2-2process started with pid [8633] ×2 +292.78sINFOros2-3process started with pid [8634] ×2 +292.78sINFOros2-4process started with pid [8635] ×2 +292.78sINFOros2-5process started with pid [8636] ×2 +292.78sINFOros2-6process started with pid [8637] ×2 +292.78sINFOros2-7process started with pid [8638] ×2 +292.78sINFOros2-8process started with pid [8639] ×2 +292.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157423 ms (missed cycles : 3).[0m ×2 +292.80sINFOcontroller_managerReceived robot description from topic. +292.80sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +292.83sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +293.08sINFOvideo_server2026/09/08 14:00:15 INF MediaMTX v1.20.1, linux, amd64 ×2 +293.08sINFOvideo_server2026/09/08 14:00:15 INF configuration loaded from /tmp/moveit-webrtc-tl1_kwlq/mediamtx.yml ×2 +293.08sINFOvideo_server2026/09/08 14:00:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +293.08sINFOvideo_server2026/09/08 14:00:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +293.48sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +293.80sINFOmove_group[2026-09-08 14:00:15.954] [moveit_pro_license] [info] ×2 +293.84sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +293.84sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +294.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099077 ms (missed cycles : 2). +294.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099077 ms (missed cycles : 2).[0m ×2 +294.08sINFOwaypoint_manager_node[2026-09-08 14:00:16.238] [moveit_pro_license] [info] ×2 +295.29sINFOobjective_server_node[2026-09-08 14:00:17.442] [moveit_pro_license] [info] ×2 +295.82sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +295.83sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +295.83sINFOcontroller_managerActivating component 'ur_mujoco_control'. +295.83sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +295.83sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +295.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +295.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +295.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +295.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +296.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +296.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +296.01sINFOforce_torque_sensor_broadcasterconfigure successful +296.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +296.02sINFOcontroller_managerSuccessfully switched controllers! ×16 +296.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +296.07sINFOcomponent_container_mt[2026-09-08 14:00:18.224] [moveit_pro_license] [info] ×2 +296.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772247 ms (missed cycles : 2). +296.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772247 ms (missed cycles : 2).[0m ×2 +296.30sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +296.30sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +296.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +296.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +296.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +296.35sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +296.35sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +296.35sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +296.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +296.36sINFOros2-2process has finished cleanly [pid 8633] ×2 +296.36sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +296.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +296.63sINFOcontroller_managerLoading controller 'velocity_force_controller' +296.70sINFOros2-3process has finished cleanly [pid 8634] ×2 +296.75sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +296.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +296.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +296.78sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +296.81sINFOros2_control_node[2026-09-08 14:00:18.966] [info] Controller state will be published at 10 Hz. ×2 +296.81sINFOros2_control_node[2026-09-08 14:00:18.967] [info] VelocityForceController 'on_configure' succeeded. ×2 +297.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +297.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +297.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +297.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +297.15sINFOros2-7process has finished cleanly [pid 8638] ×2 +297.18sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +297.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +297.18sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +297.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +297.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +297.19sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +297.19sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +297.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +297.20sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +297.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +297.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' +297.51sINFOros2-5process has finished cleanly [pid 8636] ×2 +297.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +297.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +297.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +297.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +297.62sINFOros2_control_node[2026-09-08 14:00:19.772] [info] Controller state will be published at 20 Hz. ×2 +297.62sINFOros2_control_node[2026-09-08 14:00:19.773] [info] JointVelocityController 'on_configure' succeeded. ×2 +297.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +297.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +297.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 +297.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +297.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +297.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 +297.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 +297.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 +297.93sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +297.93sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +297.94sINFOros2-8process has finished cleanly [pid 8639] ×2 +297.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +297.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +298.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +298.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +298.04sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +298.04sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +298.06sINFOros2_control_node[2026-09-08 14:00:20.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 +298.06sINFOros2_control_node[2026-09-08 14:00:20.212] [info] Controller state will be published at 50 Hz. ×2 +298.06sINFOros2_control_node[2026-09-08 14:00:20.218] [info] Registered `FollowJointTrajectory` action server. ×2 +298.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2). +298.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2).[0m ×2 +298.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+298.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 +298.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +298.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 +298.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +298.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +298.41sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga +298.41sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 +298.44sINFOros2-6process has finished cleanly [pid 8637] ×2 +298.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +298.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +298.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +298.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +298.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +298.75sINFOros2-4process has finished cleanly [pid 8635] ×2 +298.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+298.95sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +298.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +299.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). +299.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 +300.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 +300.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). +300.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 +300.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+300.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +300.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 +301.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+301.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). +301.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 +301.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +301.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 +302.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+302.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +302.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 +302.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). +302.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 46 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.84sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 6.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.37sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 7.37sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 44 warnings · 459 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.06sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.16sINFOros2-6process has finished cleanly [pid 8637] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.47sINFOros2-4process has finished cleanly [pid 8635] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.46sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 5.46sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 7.57sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 13 warnings · 240 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/2026-09-08-14-00-13-704720-45d5a03eb9f8-8584 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.65sINFOcontroller_managerupdate rate is 600 Hz + 0.65sINFOcontroller_managerOverruns handling is : enabled + 0.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.65sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157423 ms (missed cycles : 3). + 0.84sINFOros2_control_node-1process started with pid [8632] ×2 + 0.84sINFOmove_group-9process started with pid [8669] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [8670] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [8671] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [8672] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [8673] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [8674] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [8675] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [8676] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [8677] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [8678] ×2 + 0.84sINFOweb_bridge-19process started with pid [8679] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [8757] ×2 + 0.84sINFOvideo_server-21process started with pid [8758] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [8759] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [8760] ×2 + 0.85sINFOros2-2process started with pid [8633] ×2 + 0.85sINFOros2-3process started with pid [8634] ×2 + 0.85sINFOros2-4process started with pid [8635] ×2 + 0.85sINFOros2-5process started with pid [8636] ×2 + 0.85sINFOros2-6process started with pid [8637] ×2 + 0.85sINFOros2-7process started with pid [8638] ×2 + 0.85sINFOros2-8process started with pid [8639] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157423 ms (missed cycles : 3).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.89sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.14sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.15sINFOvideo_server2026/09/08 14:00:15 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/08 14:00:15 INF configuration loaded from /tmp/moveit-webrtc-tl1_kwlq/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/08 14:00:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/08 14:00:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.55sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-08 14:00:15.954] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.91sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.91sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.91sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.91sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.92sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.92sINFOros2_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 + 2.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099077 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099077 ms (missed cycles : 2).[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.15sINFOwaypoint_manager_node[2026-09-08 14:00:16.238] [moveit_pro_license] [info] ×2 + 2.15sINFOwaypoint_manager_node************************************************* ×4 + 2.15sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.15sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.29sINFOmove_group ×4 + 2.29sINFOmove_group[92mYou can start planning now![0m ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.36sINFOobjective_server_node[2026-09-08 14:00:17.442] [moveit_pro_license] [info] ×2 + 3.36sINFOobjective_server_node************************************************* ×4 + 3.36sINFOobjective_server_node* MoveIt Pro License ×2 + 3.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.49sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.49sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.89sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 41 warnings · 532 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8636] ×2 + 0.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.772] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.773] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 8639] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-08 14:00:20.218] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2).[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.78sINFOobjective_server_nodecaller: ×14 + 0.78sINFOobjective_server_nodetype: 0 ×14 + 0.78sINFOobjective_server_nodename: "" ×14 + 0.78sINFOobjective_server_nodeinstance_id: "" ×14 + 0.78sINFOobjective_server_node ×14 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 0.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.93sINFOros2-6process has finished cleanly [pid 8637] ×2 + 0.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8635] ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_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 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 41 warnings · 532 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8636] ×2 + 0.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.772] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.773] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 8639] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-08 14:00:20.218] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2).[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.78sINFOobjective_server_nodecaller: ×14 + 0.78sINFOobjective_server_nodetype: 0 ×14 + 0.78sINFOobjective_server_nodename: "" ×14 + 0.78sINFOobjective_server_nodeinstance_id: "" ×14 + 0.78sINFOobjective_server_node ×14 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 0.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.93sINFOros2-6process has finished cleanly [pid 8637] ×2 + 0.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8635] ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_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 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 41 warnings · 532 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 8636] ×2 + 0.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.772] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-08 14:00:19.773] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 8639] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-09-08 14:00:20.189] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.55sINFOros2_control_node[2026-09-08 14:00:20.212] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-08 14:00:20.218] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523737 ms (missed cycles : 2).[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.78sINFOobjective_server_nodecaller: ×14 + 0.78sINFOobjective_server_nodetype: 0 ×14 + 0.78sINFOobjective_server_nodename: "" ×14 + 0.78sINFOobjective_server_nodeinstance_id: "" ×14 + 0.78sINFOobjective_server_node ×14 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.83sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.83sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 0.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.93sINFOros2-6process has finished cleanly [pid 8637] ×2 + 0.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8635] ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_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 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.21sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 41 warnings · 454 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×7 + 0.06sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×14 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788876020.49644899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788876020.50673223 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga + 0.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_owf_fac8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_en5v2mid --params-file /tmp/launch_params_w4404fga [0m ×2 + 0.16sINFOros2-6process has finished cleanly [pid 8637] ×2 + 0.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.47sINFOros2-4process has finished cleanly [pid 8635] ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.46sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 5.46sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 41 warnings · 372 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×6 + 0.05sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788876021.10069704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681261 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.84sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 6.96sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 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 | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 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 | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 40 warnings · 352 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788876022.21087885 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340465 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: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×5 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/live_surface_coverage_demo.xml`: Error at line 21: -> Node not recognized: AccumulateSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/record_surface_coverage_demo.xml`: Error at line 25: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_record_coverage.xml`: Error at line 45: -> Node not recognized: RecordSurfaceCoverage ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788876022.82982850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788876022.89001131 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550537 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788876023.59793472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788876023.61805892 seconds ×3 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788876024.21789765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788876024.36848783 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.517860 ms (missed cycles : 6).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788876025.07804751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788876025.12816262 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500428 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788876025.73620582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.2617e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-08 14:00:25.892] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679775 ms (missed cycles : 3).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995086 ms (missed cycles : 3).[0m ×2 + 5.80sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-09-08 14:00:28.420] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684608 ms (missed cycles : 3).[0m ×2 | ||||