127
Total objective tests
34
Objectives passed
0
Objectives failed
93
Objectives skipped
10.1s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass58 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 164 warnings · 19524 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530717 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530717 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067710 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067710 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006866 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006866 ms (missed cycles : 2).[0m ×2 + 2.96sWARNros2_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 + 3.06sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788877680.53752589 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132891 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132891 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_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: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788877681.20258474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.93sINFOros2_control_node[2026-09-08 14:28:01.406] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-08 14:28:01.406] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164721 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164721 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_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 + 5.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675259 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675259 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675736 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675736 ms (missed cycles : 2).[0m ×2 + 7.40sINFOjoint_trajectory_controllerReceived new action goal ×3210 + 7.40sINFOjoint_trajectory_controllerAccepted new action goal ×3210 + 7.40sINFOros2_control_nodeReceived new action goal[0m ×6420 + 7.40sINFOros2_control_nodeAccepted new action goal[0m ×6420 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236066 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236066 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.337784 ms (missed cycles : 10). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.337784 ms (missed cycles : 10).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292819 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292819 ms (missed cycles : 4).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208846 ms (missed cycles : 4). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208846 ms (missed cycles : 4).[0m ×2 + 10.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718226 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718226 ms (missed cycles : 2).[0m ×2 + 12.26sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.26sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785177 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785177 ms (missed cycles : 2).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017469 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017469 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346869 ms (missed cycles : 6). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.346869 ms (missed cycles : 6).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341539 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341539 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739178 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739178 ms (missed cycles : 2).[0m ×2 + 17.01sWARNros2_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 ×4 + 18.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855384 ms (missed cycles : 2). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855384 ms (missed cycles : 2).[0m ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644437 ms (missed cycles : 3). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644437 ms (missed cycles : 3).[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620564 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620564 ms (missed cycles : 2).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064163 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064163 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744176 ms (missed cycles : 2). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744176 ms (missed cycles : 2).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721349 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721349 ms (missed cycles : 2).[0m ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698289 ms (missed cycles : 2). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698289 ms (missed cycles : 2).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174117 ms (missed cycles : 2). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174117 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872298 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872298 ms (missed cycles : 2).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669144 ms (missed cycles : 2). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669144 ms (missed cycles : 2).[0m ×2 + 28.17sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160934 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160934 ms (missed cycles : 2).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886473 ms (missed cycles : 2). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886473 ms (missed cycles : 2).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765419 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765419 ms (missed cycles : 2).[0m ×2 + 31.04sWARNros2_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 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928551 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928551 ms (missed cycles : 2).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687422 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687422 ms (missed cycles : 2).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105126 ms (missed cycles : 6). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105126 ms (missed cycles : 6).[0m ×2 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701703 ms (missed cycles : 2). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701703 ms (missed cycles : 2).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199385 ms (missed cycles : 4). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199385 ms (missed cycles : 4).[0m ×2 + 36.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588107 ms (missed cycles : 2). + 36.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588107 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673317 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673317 ms (missed cycles : 2).[0m ×2 + 37.96sWARNros2_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 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412390 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412390 ms (missed cycles : 2).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668428 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668428 ms (missed cycles : 2).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706956 ms (missed cycles : 2). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706956 ms (missed cycles : 2).[0m ×2 + 41.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375083 ms (missed cycles : 2). + 41.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375083 ms (missed cycles : 2).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705765 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705765 ms (missed cycles : 2).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912835 ms (missed cycles : 5). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912835 ms (missed cycles : 5).[0m ×2 + 44.89sWARNros2_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 + 45.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882350 ms (missed cycles : 2). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882350 ms (missed cycles : 2).[0m ×2 + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874367 ms (missed cycles : 3). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874367 ms (missed cycles : 3).[0m ×2 + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748580 ms (missed cycles : 2). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748580 ms (missed cycles : 2).[0m ×2 + 47.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877725.04033375 seconds ×3 + 47.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.10sINFOobjective_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: ""
+ 48.11sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788877725.67262697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.24sINFOobjective_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 + 48.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866525 ms (missed cycles : 5). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866525 ms (missed cycles : 5).[0m ×2 + 48.33sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 48.35sINFOros2_control_node[2026-09-08 14:28:45.826] [info] Received new action goal ×2 + 48.35sINFOros2_control_node[2026-09-08 14:28:45.826] [info] Accepted new action goal ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171857 ms (missed cycles : 5). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171857 ms (missed cycles : 5).[0m ×2 + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483179 ms (missed cycles : 2). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483179 ms (missed cycles : 2).[0m ×2 + 51.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252543 ms (missed cycles : 2). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252543 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-08 14:27:10.560] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-08 14:27:10.560] [info] Accepted new action goal ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.144401 ms (missed cycles : 7). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.144401 ms (missed cycles : 7).[0m ×2 + 7.88sWARNros2_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 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341679 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341679 ms (missed cycles : 3).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996460 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996460 ms (missed cycles : 2).[0m ×2 + 10.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.38sINFOros2_control_node[2026-09-08 14:27:13.831] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-09-08 14:27:13.831] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727469 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727469 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667687 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667687 ms (missed cycles : 3).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873839 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873839 ms (missed cycles : 2).[0m ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.40sINFOros2_control_node[2026-09-08 14:27:16.857] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-08 14:27:16.857] [info] Accepted new action goal ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363550 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363550 ms (missed cycles : 2).[0m ×2 + 13.80sWARNros2_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 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162155 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162155 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840482 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840482 ms (missed cycles : 2).[0m ×2 + 16.36sINFOobjective_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 + 16.36sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270062 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270062 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.116892 ms (missed cycles : 5). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.116892 ms (missed cycles : 5).[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215842 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215842 ms (missed cycles : 2).[0m ×2 + 19.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.055306 ms (missed cycles : 5). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.055306 ms (missed cycles : 5).[0m ×2 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865190 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865190 ms (missed cycles : 2).[0m ×2 + 22.19sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434077 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434077 ms (missed cycles : 3).[0m ×2 + 23.12sINFOobjective_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 + 23.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.12sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.12sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680780 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680780 ms (missed cycles : 2).[0m ×2 + 24.06sINFOros2_control_node[2026-09-08 14:27:27.510] [info] Received new action goal ×2 + 24.06sINFOros2_control_node[2026-09-08 14:27:27.510] [info] Accepted new action goal ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765851 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765851 ms (missed cycles : 2).[0m ×2 + 25.22sINFOobjective_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 + 25.23sINFOobjective_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 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645553 ms (missed cycles : 4). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645553 ms (missed cycles : 4).[0m ×2 + 25.51sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 25.52sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.56sINFOros2_control_node[2026-09-08 14:27:29.014] [info] Received new action goal ×2 + 25.56sINFOros2_control_node[2026-09-08 14:27:29.014] [info] Accepted new action goal ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584168 ms (missed cycles : 2). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584168 ms (missed cycles : 2).[0m ×2 + 26.59sWARNros2_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 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148808 ms (missed cycles : 5). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148808 ms (missed cycles : 5).[0m ×2 + 27.69sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 27.70sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.71sINFOros2_control_node[2026-09-08 14:27:31.161] [info] Received new action goal ×2 + 27.71sINFOros2_control_node[2026-09-08 14:27:31.161] [info] Accepted new action goal ×2 + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418345 ms (missed cycles : 5). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418345 ms (missed cycles : 5).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024005 ms (missed cycles : 4). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024005 ms (missed cycles : 4).[0m ×2 + 30.85sINFOros2_control_node[2026-09-08 14:27:34.301] [info] Received new action goal ×2 + 30.85sINFOros2_control_node[2026-09-08 14:27:34.301] [info] Accepted new action goal ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787269 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787269 ms (missed cycles : 2).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033235 ms (missed cycles : 2). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033235 ms (missed cycles : 2).[0m ×2 + 32.66sWARNros2_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 + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184539 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184539 ms (missed cycles : 2).[0m ×2 + 33.44sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 33.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.50sINFOros2_control_node[2026-09-08 14:27:36.954] [info] Received new action goal ×2 + 33.50sINFOros2_control_node[2026-09-08 14:27:36.954] [info] Accepted new action goal ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078244 ms (missed cycles : 2). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078244 ms (missed cycles : 2).[0m ×2 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148744 ms (missed cycles : 2). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148744 ms (missed cycles : 2).[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749305 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749305 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766488 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766488 ms (missed cycles : 2).[0m ×2 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833438 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833438 ms (missed cycles : 2).[0m ×2 + 38.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354297 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354297 ms (missed cycles : 3).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110922 ms (missed cycles : 2). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110922 ms (missed cycles : 2).[0m ×2 + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269628 ms (missed cycles : 4). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269628 ms (missed cycles : 4).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835465 ms (missed cycles : 2). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835465 ms (missed cycles : 2).[0m ×2 + 44.15sINFOros2_control_node[2026-09-08 14:27:47.600] [info] Received new action goal ×2 + 44.15sINFOros2_control_node[2026-09-08 14:27:47.600] [info] Accepted new action goal ×2 + 44.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232476 ms (missed cycles : 2). + 44.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232476 ms (missed cycles : 2).[0m ×2 + 45.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788877668.75796103 seconds ×3 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107576 ms (missed cycles : 2). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107576 ms (missed cycles : 2).[0m ×2 + 45.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.86sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.09sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788877669.54727435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165678 ms (missed cycles : 4). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165678 ms (missed cycles : 4).[0m ×2 + 47.31sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 47.33sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.35sINFOros2_control_node[2026-09-08 14:27:50.804] [info] Received new action goal ×2 + 47.35sINFOros2_control_node[2026-09-08 14:27:50.804] [info] Accepted new action goal ×2 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.000919 ms (missed cycles : 7). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.000919 ms (missed cycles : 7).[0m ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884221 ms (missed cycles : 2). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884221 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 36.6s | 3 errors · 140 warnings · 326 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550771 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550771 ms (missed cycles : 7).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661133 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661133 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343346 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343346 ms (missed cycles : 6).[0m ×2 + 2.49sINFOobjective_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 + 2.49sERRORobjective_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: 1788877790.52175260 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.10sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.10sINFOobjective_server_nodecaller: ×8 + 3.10sINFOobjective_server_nodetype: 0 ×8 + 3.10sINFOobjective_server_nodename: "" ×8 + 3.10sINFOobjective_server_nodeinstance_id: "" ×8 + 3.10sINFOobjective_server_node ×8 + 3.17sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1788877791.19593048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371807 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371807 ms (missed cycles : 4).[0m ×2 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245996 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245996 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-09-08 14:29:52.510] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-08 14:29:52.510] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256673 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256673 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.678089 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.678089 ms (missed cycles : 6).[0m ×2 + 7.23sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated and will be removed in a future release. Wire the trajectory_timing port instead to select the timing algorithm and its parameters. ×6 + 7.23sINFOobjective_server_nodePlanning for 64 path waypoints. ×6 + 7.29sINFOros2_control_node[2026-09-08 14:29:55.315] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-09-08 14:29:55.315] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711924 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711924 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779708 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779708 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917667 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917667 ms (missed cycles : 3).[0m ×2 + 10.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318559 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318559 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937073 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937073 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185886 ms (missed cycles : 5). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185886 ms (missed cycles : 5).[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082256 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082256 ms (missed cycles : 3).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174893 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174893 ms (missed cycles : 3).[0m ×2 + 16.02sWARNros2_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 ×4 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777256 ms (missed cycles : 6). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777256 ms (missed cycles : 6).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011563 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011563 ms (missed cycles : 2).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376859 ms (missed cycles : 4). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376859 ms (missed cycles : 4).[0m ×2 + 18.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 18.46sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 18.46sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 18.47sINFOros2_control_node[2026-09-08 14:30:06.500] [info] Received new action goal ×2 + 18.47sINFOros2_control_node[2026-09-08 14:30:06.500] [info] Accepted new action goal ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591823 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591823 ms (missed cycles : 2).[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761487 ms (missed cycles : 2). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761487 ms (missed cycles : 2).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.519044 ms (missed cycles : 7). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.519044 ms (missed cycles : 7).[0m ×2 + 22.24sWARNros2_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 + 22.59sINFOros2_control_node[2026-09-08 14:30:10.614] [info] Received new action goal ×2 + 22.59sINFOros2_control_node[2026-09-08 14:30:10.614] [info] Accepted new action goal ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139812 ms (missed cycles : 6). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.139812 ms (missed cycles : 6).[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239961 ms (missed cycles : 4). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239961 ms (missed cycles : 4).[0m ×2 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722684 ms (missed cycles : 2). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722684 ms (missed cycles : 2).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046500 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046500 ms (missed cycles : 5).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647064 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647064 ms (missed cycles : 2).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365896 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365896 ms (missed cycles : 3).[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511633 ms (missed cycles : 3). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511633 ms (missed cycles : 3).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716845 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716845 ms (missed cycles : 2).[0m ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529693 ms (missed cycles : 3). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529693 ms (missed cycles : 3).[0m ×2 + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190741 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190741 ms (missed cycles : 2).[0m ×2 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205663 ms (missed cycles : 2). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205663 ms (missed cycles : 2).[0m ×2 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982095 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982095 ms (missed cycles : 2).[0m ×2 + 35.39sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 35.40sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 35.41sINFOros2_control_node[2026-09-08 14:30:23.441] [info] Received new action goal ×2 + 35.41sINFOros2_control_node[2026-09-08 14:30:23.441] [info] Accepted new action goal ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3).[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7).[0m ×2 + 37.63sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 39.09sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 39.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 39.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 39.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 39.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 39.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 39.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 39.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 39.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 40.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 40.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 40.42sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 40.47sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 40.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 41.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.05sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 41.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.21sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 41.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 41.23sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 41.23sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13492 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2216 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2216 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4432 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4432 + 0.53sWARNros2_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 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882350 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882350 ms (missed cycles : 2).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874367 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874367 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748580 ms (missed cycles : 2). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748580 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877725.04033375 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788877725.67262697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_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 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866525 ms (missed cycles : 5). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866525 ms (missed cycles : 5).[0m ×2 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.99sINFOros2_control_node[2026-09-08 14:28:45.826] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-08 14:28:45.826] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171857 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171857 ms (missed cycles : 5).[0m ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.30sINFOobjective_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 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483179 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483179 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252543 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252543 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914203 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914203 ms (missed cycles : 2).[0m ×2 + 8.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932764 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932764 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959393 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959393 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249815 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249815 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797153 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797153 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966364 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966364 ms (missed cycles : 2).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555592 ms (missed cycles : 4). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555592 ms (missed cycles : 4).[0m ×2 + 14.66sWARNros2_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 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594204 ms (missed cycles : 6). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594204 ms (missed cycles : 6).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118513 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118513 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865767 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865767 ms (missed cycles : 2).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706417 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706417 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725819 ms (missed cycles : 2). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725819 ms (missed cycles : 2).[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084711 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084711 ms (missed cycles : 2).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729327 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729327 ms (missed cycles : 2).[0m ×2 + 21.62sWARNros2_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 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 25.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 25.91sINFOobjective_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: ""
+ 25.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.19sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 26.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.20sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 26.20sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 27.35sWARNros2_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 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 20.1s | 3 errors · 88 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508386 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×4 + 0.88sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 0.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757285 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757285 ms (missed cycles : 3).[0m ×2 + 1.02sINFOobjective_server_nodeFound path in 1 iterations (0.00533563 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________X_______________X] ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.27sINFOros2_control_node[2026-09-08 14:26:29.008] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-09-08 14:26:29.008] [info] Accepted new action goal ×2 + 1.67sINFOros2_control_node[2026-09-08 14:26:29.410] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-09-08 14:26:29.410] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835194 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835194 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-08 14:26:30.022] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-08 14:26:30.022] [info] Canceling active goal... ×2 + 2.30sERRORobjective_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: 1788877590.04104495 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1788877590.75734043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424682 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424682 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970911 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970911 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-09-08 14:26:32.052] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-08 14:26:32.052] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759198 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759198 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040683 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040683 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813993 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813993 ms (missed cycles : 2).[0m ×2 + 7.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.65sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated and will be removed in a future release. Wire the trajectory_timing port instead to select the timing algorithm and its parameters. ×3 + 7.65sINFOobjective_server_nodePlanning for 64 path waypoints. ×3 + 7.71sINFOros2_control_node[2026-09-08 14:26:35.445] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-09-08 14:26:35.445] [info] Accepted new action goal ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.438059 ms (missed cycles : 6). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.438059 ms (missed cycles : 6).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571668 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571668 ms (missed cycles : 3).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895066 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895066 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144357 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144357 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306072 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306072 ms (missed cycles : 4).[0m ×2 + 13.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287757 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287757 ms (missed cycles : 2).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259844 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259844 ms (missed cycles : 2).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082807 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082807 ms (missed cycles : 2).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812101 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812101 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991641 ms (missed cycles : 2). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991641 ms (missed cycles : 2).[0m ×2 + 18.46sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.57sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 18.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.59sINFOros2_control_node[2026-09-08 14:26:46.332] [info] Received new action goal ×2 + 18.59sINFOros2_control_node[2026-09-08 14:26:46.332] [info] Accepted new action goal ×2 + 18.60sWARNros2_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 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016849 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016849 ms (missed cycles : 2).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035709 ms (missed cycles : 4). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035709 ms (missed cycles : 4).[0m ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541450 ms (missed cycles : 6). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541450 ms (missed cycles : 6).[0m ×2 + 22.44sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1788877610.17754698 seconds ×3 + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713201 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713201 ms (missed cycles : 2).[0m ×2 + 22.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.98sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788877610.78070307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.22sINFOros2_control_node[2026-09-08 14:26:50.954] [info] Received new action goal ×2 + 23.22sINFOros2_control_node[2026-09-08 14:26:50.954] [info] Accepted new action goal ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935430 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935430 ms (missed cycles : 2).[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105732 ms (missed cycles : 5). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105732 ms (missed cycles : 5).[0m ×2 + 25.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807710 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807710 ms (missed cycles : 3).[0m ×2 + 25.73sINFOros2_control_node[2026-09-08 14:26:53.473] [info] Received new action goal ×2 + 25.73sINFOros2_control_node[2026-09-08 14:26:53.473] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 60 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016849 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016849 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035709 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035709 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541450 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541450 ms (missed cycles : 6).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1788877610.17754698 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713201 ms (missed cycles : 2). + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713201 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788877610.78070307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-08 14:26:50.954] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-08 14:26:50.954] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935430 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935430 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105732 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105732 ms (missed cycles : 5).[0m ×2 + 5.97sWARNros2_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 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807710 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807710 ms (missed cycles : 3).[0m ×2 + 6.39sINFOros2_control_node[2026-09-08 14:26:53.473] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-08 14:26:53.473] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844622 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844622 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947137 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947137 ms (missed cycles : 5).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918838 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918838 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158511 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158511 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888333 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888333 ms (missed cycles : 3).[0m ×2 + 11.97sWARNros2_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 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3).[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788877622.04796100 seconds ×3 + 15.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.51sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788877622.64292049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788877622.72305202 seconds ×3 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5).[0m ×2 + 16.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.37sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.54sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 16.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.55sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 16.56sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 18.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835465 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835465 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.14sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.14sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.14sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.14sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sINFOros2_control_node[2026-09-08 14:27:47.600] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-09-08 14:27:47.600] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232476 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232476 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788877668.75796103 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107576 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107576 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.74sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.74sINFOobjective_server_nodecaller: ×4 + 2.74sINFOobjective_server_nodetype: 0 ×4 + 2.74sINFOobjective_server_nodename: "" ×4 + 2.74sINFOobjective_server_nodeinstance_id: "" ×4 + 2.74sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788877669.54727435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165678 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165678 ms (missed cycles : 4).[0m ×2 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:50.804] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:50.804] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.000919 ms (missed cycles : 7). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.000919 ms (missed cycles : 7).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884221 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884221 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181857 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181857 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584913 ms (missed cycles : 7). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.584913 ms (missed cycles : 7).[0m ×2 + 7.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 7.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.92sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.92sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.92sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.92sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951800 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951800 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257079 ms (missed cycles : 4). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257079 ms (missed cycles : 4).[0m ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.35sINFOros2_control_node[2026-09-08 14:27:56.934] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-09-08 14:27:56.934] [info] Accepted new action goal ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530717 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530717 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067710 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067710 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006866 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006866 ms (missed cycles : 2).[0m ×2 + 13.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 13.96sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788877680.53752589 seconds ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132891 ms (missed cycles : 2). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132891 ms (missed cycles : 2).[0m ×2 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788877681.20258474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.83sINFOros2_control_node[2026-09-08 14:28:01.406] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-09-08 14:28:01.406] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164721 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164721 ms (missed cycles : 4).[0m ×2 + 16.09sINFOobjective_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 + 16.10sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675259 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675259 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675736 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675736 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.3s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.61sINFOobjective_server_nodecaller: ×8 + 2.61sINFOobjective_server_nodetype: 0 ×8 + 2.61sINFOobjective_server_nodename: "" ×8 + 2.61sINFOobjective_server_nodeinstance_id: "" ×8 + 2.61sINFOobjective_server_node ×8 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995225 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995225 ms (missed cycles : 2).[0m ×2 + 8.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.07sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.51sINFOobjective_server_nodeFound path in 1 iterations (0.00276508 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X_______________X] ×2 + 8.74sINFOros2_control_node[2026-09-08 14:25:51.178] [info] Received new action goal ×2 + 8.74sINFOros2_control_node[2026-09-08 14:25:51.178] [info] Accepted new action goal ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271119 ms (missed cycles : 4). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271119 ms (missed cycles : 4).[0m ×2 + 9.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778918 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778918 ms (missed cycles : 3).[0m ×2 + 11.05sINFOros2_control_node[2026-09-08 14:25:53.490] [info] Received new action goal ×2 + 11.05sINFOros2_control_node[2026-09-08 14:25:53.490] [info] Accepted new action goal ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204672 ms (missed cycles : 3). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204672 ms (missed cycles : 3).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 12.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.81sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 14.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 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 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 15.42sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 15.54sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.55sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 15.55sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 3 errors · 60 warnings · 390 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.02sINFOobjective_server_nodecaller: ×12 + 2.02sINFOobjective_server_nodetype: 0 ×12 + 2.02sINFOobjective_server_nodename: "" ×12 + 2.02sINFOobjective_server_nodeinstance_id: "" ×12 + 2.02sINFOobjective_server_node ×12 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.92sINFOros2_control_node[2026-09-08 14:30:32.575] [info] Received new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:30:32.575] [info] Accepted new action goal ×2 + 6.92sINFOros2_control_node[2026-09-08 14:30:32.576] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.57sWARNros2_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 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569150 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569150 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940888 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940888 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646405 ms (missed cycles : 6). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.646405 ms (missed cycles : 6).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4).[0m ×2 + 12.62sWARNros2_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 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2).[0m ×2 + 13.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.87sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Got request to cancel active goal. ×2 + 13.87sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Canceling active goal... ×2 + 13.87sERRORobjective_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: 1788877839.52692962 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4).[0m ×2 + 14.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 16.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 16.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.66sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.71sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.71sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.71sINFOobjective_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 + 16.71sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.71sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 17.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523409 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523409 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099935 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099935 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573503 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573503 ms (missed cycles : 4).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788877779.52927566 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788877780.15149212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532303 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532303 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.21sINFOros2_control_node[2026-09-08 14:29:40.285] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-08 14:29:40.285] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782462 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782462 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027990 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027990 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372292 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372292 ms (missed cycles : 2).[0m ×2 + 7.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566232 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566232 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156535 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156535 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126711 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126711 ms (missed cycles : 4).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550771 ms (missed cycles : 7). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550771 ms (missed cycles : 7).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661133 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661133 ms (missed cycles : 4).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343346 ms (missed cycles : 6). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343346 ms (missed cycles : 6).[0m ×2 + 13.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.45sERRORobjective_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: 1788877790.52175260 seconds ×3 + 14.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.06sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.12sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1788877791.19593048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 14.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371807 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371807 ms (missed cycles : 4).[0m ×2 + 14.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245996 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245996 ms (missed cycles : 2).[0m ×2 + 15.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 15.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 15.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 15.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 15.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 15.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.42sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 15.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.44sINFOros2_control_node[2026-09-08 14:29:52.510] [info] Received new action goal ×2 + 15.44sINFOros2_control_node[2026-09-08 14:29:52.510] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256673 ms (missed cycles : 4). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256673 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401940 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401940 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721514 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721514 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 1.79sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.82sINFOros2_control_node[2026-09-08 14:25:33.246] [info] Received new action goal ×2 + 1.82sINFOros2_control_node[2026-09-08 14:25:33.246] [info] Accepted new action goal ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.08sINFOros2_control_node[2026-09-08 14:25:33.513] [info] Got request to cancel active goal. ×2 + 2.08sINFOros2_control_node[2026-09-08 14:25:33.513] [info] Canceling active goal... ×2 + 2.10sERRORobjective_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: 1788877533.52892208 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132951 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132951 ms (missed cycles : 5).[0m ×2 + 2.70sINFOobjective_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: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.70sINFOobjective_server_nodecaller: ×6 + 2.70sINFOobjective_server_nodetype: 0 ×6 + 2.70sINFOobjective_server_nodename: "" ×6 + 2.70sINFOobjective_server_nodeinstance_id: "" ×6 + 2.70sINFOobjective_server_node ×6 + 2.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788877534.20263267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.00sINFOros2_control_node[2026-09-08 14:25:34.427] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-09-08 14:25:34.427] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746956 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746956 ms (missed cycles : 2).[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426989 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426989 ms (missed cycles : 3).[0m ×2 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.28sINFOros2_control_node[2026-09-08 14:25:36.708] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-08 14:25:36.708] [info] Accepted new action goal ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974841 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974841 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205565 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205565 ms (missed cycles : 3).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113111 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113111 ms (missed cycles : 2).[0m ×2 + 8.58sWARNros2_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 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707643 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707643 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098869 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098869 ms (missed cycles : 4).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 13.08sERRORobjective_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: 1788877544.51327276 seconds ×3 + 13.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 14.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 14.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.61sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 14.73sWARNros2_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 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 + 7.03sWARNros2_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 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375903 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375903 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407275 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407275 ms (missed cycles : 2).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756720 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756720 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166430 ms (missed cycles : 4). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166430 ms (missed cycles : 4).[0m ×2 + 10.52sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393358 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393358 ms (missed cycles : 3).[0m ×2 + 12.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528742 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528742 ms (missed cycles : 4).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117084 ms (missed cycles : 4). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117084 ms (missed cycles : 4).[0m ×2 + 13.88sERRORobjective_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: 1788877769.01543450 seconds ×3 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.47sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788877769.61108518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474081 ms (missed cycles : 6). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474081 ms (missed cycles : 6).[0m ×2 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.79sINFOros2_control_node[2026-09-08 14:29:29.927] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-08 14:29:29.927] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226982 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226982 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296486 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296486 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 58 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209962 ms (missed cycles : 6). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209962 ms (missed cycles : 6).[0m ×2 + 8.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (4.86e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243201 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243201 ms (missed cycles : 4).[0m ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 1 iterations (0.00383064 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 2 iterations (0.00529292 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X_________________X] ×2 + 9.03sINFOobjective_server_nodeFound path in 1 iterations (0.00325575 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X__________________________X] ×2 + 9.18sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.46sINFOros2_control_node[2026-09-08 14:26:14.728] [info] Received new action goal ×2 + 9.46sINFOros2_control_node[2026-09-08 14:26:14.728] [info] Accepted new action goal ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920217 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920217 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.219147 ms (missed cycles : 8). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.219147 ms (missed cycles : 8).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995985 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995985 ms (missed cycles : 2).[0m ×2 + 11.72sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.83sWARNros2_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 + 12.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788877577.29362488 seconds ×3 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845418 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845418 ms (missed cycles : 3).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213821 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213821 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.48sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788877579.74947476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.69sINFOros2_control_node[2026-09-08 14:26:19.963] [info] Received new action goal ×2 + 14.69sINFOros2_control_node[2026-09-08 14:26:19.963] [info] Accepted new action goal ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658483 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658483 ms (missed cycles : 2).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970400 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970400 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610560 ms (missed cycles : 4). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610560 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995985 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995985 ms (missed cycles : 2).[0m ×2 + 0.14sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.42sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.42sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.43sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788877577.29362488 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845418 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845418 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213821 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213821 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.80sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 2.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.80sINFOobjective_server_nodecaller: ×4 + 2.80sINFOobjective_server_nodetype: 0 ×4 + 2.80sINFOobjective_server_nodename: "" ×4 + 2.80sINFOobjective_server_nodeinstance_id: "" ×4 + 2.80sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788877579.74947476 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.11sINFOros2_control_node[2026-09-08 14:26:19.963] [info] Received new action goal ×2 + 3.11sINFOros2_control_node[2026-09-08 14:26:19.963] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658483 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658483 ms (missed cycles : 2).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970400 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970400 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610560 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610560 ms (missed cycles : 4).[0m ×2 + 6.34sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627263 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627263 ms (missed cycles : 4).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081948 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081948 ms (missed cycles : 4).[0m ×2 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (5.66e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (8.1e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 1 iterations (0.00516633 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 2 iterations (0.0078466 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X_________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 1 iterations (0.00521706 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X__________________________X] ×2 + 8.79sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298509 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298509 ms (missed cycles : 2).[0m ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.22sINFOros2_control_node[2026-09-08 14:26:26.076] [info] Received new action goal ×2 + 9.22sINFOros2_control_node[2026-09-08 14:26:26.076] [info] Accepted new action goal ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235426 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235426 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508386 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508386 ms (missed cycles : 3).[0m ×2 + 11.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.75sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.76sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 11.76sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 11.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757285 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757285 ms (missed cycles : 3).[0m ×2 + 11.90sINFOobjective_server_nodeFound path in 1 iterations (0.00533563 s). ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________X_______________X] ×2 + 12.16sINFOros2_control_node[2026-09-08 14:26:29.008] [info] Received new action goal ×2 + 12.16sINFOros2_control_node[2026-09-08 14:26:29.008] [info] Accepted new action goal ×2 + 12.56sINFOros2_control_node[2026-09-08 14:26:29.410] [info] Received new action goal ×2 + 12.56sINFOros2_control_node[2026-09-08 14:26:29.410] [info] Accepted new action goal ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835194 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835194 ms (missed cycles : 2).[0m ×2 + 13.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.17sINFOros2_control_node[2026-09-08 14:26:30.022] [info] Got request to cancel active goal. ×2 + 13.17sINFOros2_control_node[2026-09-08 14:26:30.022] [info] Canceling active goal... ×2 + 13.19sERRORobjective_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: 1788877590.04104495 seconds ×3 + 13.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 13.90sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1788877590.75734043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_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 + 13.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 13.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 13.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 13.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 13.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 13.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 13.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 13.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424682 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424682 ms (missed cycles : 3).[0m ×2 + 15.09sINFOobjective_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 + 15.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 15.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 15.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 15.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 15.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970911 ms (missed cycles : 6). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970911 ms (missed cycles : 6).[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 15.20sINFOros2_control_node[2026-09-08 14:26:32.052] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-09-08 14:26:32.052] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759198 ms (missed cycles : 5). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759198 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 58 errors · 34 warnings · 359 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.00sINFOobjective_server_nodecaller: ×8 + 0.00sINFOobjective_server_nodetype: 0 ×8 + 0.00sINFOobjective_server_nodename: "" ×8 + 0.00sINFOobjective_server_nodeinstance_id: "" ×8 + 0.00sINFOobjective_server_node ×8 + 0.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.30sINFOobjective_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 + 2.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877843.60547948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877844.22560167 seconds ×3 + 4.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622752 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622752 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406510 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406510 ms (missed cycles : 5).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.305670 ms (missed cycles : 5). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.305670 ms (missed cycles : 5).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.942431 ms (missed cycles : 6). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.942431 ms (missed cycles : 6).[0m ×2 + 10.06sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.07sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_video_auth_proxy-23process has died [pid 7457, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.07sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.08sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.08sERRORweb_bridge_auth_proxy-22process has died [pid 7456, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.08sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.08sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.09sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.09sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.09sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.10sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.10sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.11sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.11sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.12sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.12sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.13sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.13sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.13sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.13sINFOvideo_server2026/09/08 14:30:50 INF shutting down gracefully ×2 + 10.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOvideo_server2026/09/08 14:30:50 INF [WebRTC] closing ×2 + 10.13sINFOvideo_server2026/09/08 14:30:50 INF [RTSP] closing ×2 + 10.13sINFOvideo_server2026/09/08 14:30:50 INF waiting for running hooks ×2 + 10.13sINFOcontroller_managerShutdown request received.... + 10.13sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.13sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.13sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.13sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.14sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.14sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.14sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.14sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.14sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.14sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.14sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.14sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.14sINFOcontroller_managerShutting down the controller manager. + 10.14sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.14sERRORmove_groupStack trace (most recent call last) in thread 7806: ×2 + 10.14sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.14sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.14sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4d40b7ea63, in __clone ×2 + 10.14sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4d40af1aa3, in ×2 + 10.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.14sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4d40d83db3, in ×2 + 10.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.14sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.14sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4d414e8a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.14sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4d41115620, in rclcpp::Rate::sleep() ×2 + 10.14sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4d41057d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.14sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4d41019087, in ×2 + 10.14sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4d40d52390, in __cxa_throw ×2 + 10.14sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4d40d3ca54, in std::terminate() ×2 + 10.14sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4d40d520d9, in ×2 + 10.14sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4d40d3cff4, in ×2 + 10.14sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4d40a7d8fe, in abort ×2 + 10.14sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4d40a9a27d, in raise ×2 + 10.14sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4d40af3b2c, in pthread_kill ×2 + 10.14sERRORmove_groupAborted (Signal sent by tkill() 7366 0) ×2 + 10.15sINFOvideo_server-21process has finished cleanly [pid 7455] ×2 + 10.15sERRORmove_group-9process has died [pid 7366, 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_qutp3fil --params-file /tmp/launch_params_2qbtm14j --params-file /tmp/launch_params_0quhv3xe --params-file /tmp/launch_params_y92c4a4y --params-file /tmp/launch_params_ibecd9vx --params-file /tmp/launch_params_izcuk3pz']. ×2 + 10.34sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.34sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.35sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.13sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7454] ×2 + 11.13sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.15sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7372] ×2 + 11.15sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7369] ×2 + 11.19sINFOexecute_objective_bridge-17process has finished cleanly [pid 7388] ×2 + 11.19sINFOparameter_manager_node-10process has finished cleanly [pid 7367] ×2 + 11.20sINFOui_teleop_bridge-18process has finished cleanly [pid 7389] ×2 + 11.20sINFOwaypoint_manager_node-11process has finished cleanly [pid 7368] ×2 + 11.23sINFOcomponent_container_mt-16process has finished cleanly [pid 7385] ×2 + 11.28sINFOobjective_server_node[0;m[2026-09-08 14:30:51.346] [moveit_pro_license] [info] ×2 + 11.28sINFOobjective_server_node************************************************* ×4 + 11.28sINFOobjective_server_node* MoveIt Pro License ×2 + 11.28sINFOobjective_server_node* Application has successfully terminated ×2 + 11.41sINFOobjective_server_node_main-14process has finished cleanly [pid 7379] ×2 + 11.41sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.29sINFOcomponent_container_mt-15process has finished cleanly [pid 7384] ×2 + 12.48sINFOweb_bridge-19process has finished cleanly [pid 7390] ×2 + 12.48sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.79sINFOros2_control_node-1process has finished cleanly [pid 7329] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.99sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.52sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.79sINFOros2_control_node[2026-09-08 14:26:01.347] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-09-08 14:26:01.347] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969490 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969490 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663245 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663245 ms (missed cycles : 4).[0m ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 9.14sINFOros2_control_node[2026-09-08 14:26:03.691] [info] Received new action goal ×2 + 9.14sINFOros2_control_node[2026-09-08 14:26:03.691] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.422121 ms (missed cycles : 7). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.422121 ms (missed cycles : 7).[0m ×2 + 9.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 11.48sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 11.49sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 11.49sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 13.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.56sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 13.56sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 13.58sERRORobjective_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: 1788877568.13261962 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 14.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.42sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 14.42sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 55 warnings · 2212 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×335 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×335 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021707 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021707 ms (missed cycles : 2).[0m ×2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 1 iterations (0.00318993 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________X_______________X] ×2 + 9.07sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510819 ms (missed cycles : 3). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510819 ms (missed cycles : 3).[0m ×2 + 9.09sINFOros2_control_node[2026-09-08 14:29:13.022] [info] Received new action goal ×2 + 9.09sINFOros2_control_node[2026-09-08 14:29:13.022] [info] Accepted new action goal ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.130104 ms (missed cycles : 8). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.130104 ms (missed cycles : 8).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 11.40sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 11.40sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 11.44sWARNros2_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 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 13.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.16sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 14.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 14.08sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 14.09sERRORobjective_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: 1788877758.02856159 seconds ×3 + 14.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.76sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 14.95sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 14.95sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 16.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.72sINFOobjective_server_nodecaller: ×12 + 0.72sINFOobjective_server_nodetype: 0 ×12 + 0.72sINFOobjective_server_nodename: "" ×12 + 0.72sINFOobjective_server_nodeinstance_id: "" ×12 + 0.72sINFOobjective_server_node ×12 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.27sWARNros2_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 + 1.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_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 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.76sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 5.85sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.27sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.30sINFOros2_control_node[2026-09-08 14:25:26.097] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-08 14:25:26.097] [info] Accepted new action goal ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396397 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396397 ms (missed cycles : 2).[0m ×2 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897280 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897280 ms (missed cycles : 4).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934927 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934927 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 10.10sINFOros2_control_node[2026-09-08 14:25:29.897] [info] Received new action goal ×2 + 10.10sINFOros2_control_node[2026-09-08 14:25:29.897] [info] Accepted new action goal ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298902 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298902 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401940 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401940 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721514 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721514 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (5.86e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.45sINFOros2_control_node[2026-09-08 14:25:33.246] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-09-08 14:25:33.246] [info] Accepted new action goal ×2 + 13.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 13.71sINFOobjective_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 + 13.71sINFOros2_control_node[2026-09-08 14:25:33.513] [info] Got request to cancel active goal. ×2 + 13.71sINFOros2_control_node[2026-09-08 14:25:33.513] [info] Canceling active goal... ×2 + 13.73sERRORobjective_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: 1788877533.52892208 seconds ×3 + 13.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132951 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132951 ms (missed cycles : 5).[0m ×2 + 14.33sINFOobjective_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: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788877534.20263267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 14.63sINFOros2_control_node[2026-09-08 14:25:34.427] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-09-08 14:25:34.427] [info] Accepted new action goal ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746956 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746956 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426989 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426989 ms (missed cycles : 3).[0m ×2 + 16.89sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 16.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.91sINFOros2_control_node[2026-09-08 14:25:36.708] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-09-08 14:25:36.708] [info] Accepted new action goal ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974841 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974841 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393358 ms (missed cycles : 3).[0m ×2 + 0.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528742 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528742 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117084 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117084 ms (missed cycles : 4).[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 + 2.53sERRORobjective_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: 1788877769.01543450 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788877769.61108518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474081 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474081 ms (missed cycles : 6).[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.44sINFOros2_control_node[2026-09-08 14:29:29.927] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-08 14:29:29.927] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226982 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226982 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296486 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296486 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789363 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789363 ms (missed cycles : 2).[0m ×2 + 6.72sWARNros2_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 + 7.46sINFOros2_control_node[2026-09-08 14:29:33.944] [info] Received new action goal ×2 + 7.46sINFOros2_control_node[2026-09-08 14:29:33.944] [info] Accepted new action goal ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342300 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342300 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245338 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245338 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629843 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629843 ms (missed cycles : 4).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523409 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523409 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099935 ms (missed cycles : 5). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099935 ms (missed cycles : 5).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573503 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573503 ms (missed cycles : 4).[0m ×2 + 12.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 13.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788877779.52927566 seconds ×3 + 13.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.59sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.66sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788877780.15149212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532303 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532303 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 13.78sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.80sINFOros2_control_node[2026-09-08 14:29:40.285] [info] Received new action goal ×2 + 13.80sINFOros2_control_node[2026-09-08 14:29:40.285] [info] Accepted new action goal ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782462 ms (missed cycles : 4). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782462 ms (missed cycles : 4).[0m ×2 + 15.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027990 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027990 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 32 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788877622.04796100 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.01sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.01sINFOobjective_server_nodecaller: ×6 + 3.01sINFOobjective_server_nodetype: 0 ×6 + 3.01sINFOobjective_server_nodename: "" ×6 + 3.01sINFOobjective_server_nodeinstance_id: "" ×6 + 3.01sINFOobjective_server_node ×6 + 3.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788877622.64292049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788877622.72305202 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_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 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.68sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.77sINFOobjective_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 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 8.10sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.2s | 3 errors · 34 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1788877839.52692962 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.72sINFOobjective_server_nodecaller: ×8 + 3.72sINFOobjective_server_nodetype: 0 ×8 + 3.72sINFOobjective_server_nodename: "" ×8 + 3.72sINFOobjective_server_nodeinstance_id: "" ×8 + 3.72sINFOobjective_server_node ×8 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.02sINFOobjective_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 + 6.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 + 7.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877843.60547948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2).[0m ×2 + 7.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877844.22560167 seconds ×3 + 7.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3).[0m ×2 + 8.77sWARNros2_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 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 692 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.19sINFOcomponent_container_mt[2026-09-08 14:25:15.545] [moveit_pro_license] [info] ×2 + 0.19sINFOcomponent_container_mt************************************************* ×4 + 0.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.26sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.26sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.27sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.27sWARNros2_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 + 0.27sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.27sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.27sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.27sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.27sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.27sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.27sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.27sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.27sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.27sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.27sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.27sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.27sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.27sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.27sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.27sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.27sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.27sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.27sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.27sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.27sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.52sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.52sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.57sINFOros2_control_node[2026-09-08 14:25:15.928] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-09-08 14:25:15.929] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sINFOros2_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 + 0.78sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.78sWARNros2_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 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475140 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475140 ms (missed cycles : 2).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOros2-8process has finished cleanly [pid 7336] ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.20sINFOros2-2process has finished cleanly [pid 7330] ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.25sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 1.29sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.29sINFOros2_control_node[2026-09-08 14:25:16.650] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.29sINFOros2_control_node[2026-09-08 14:25:16.650] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:16.688] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:16.688] [info] Controller state will be published at 50 Hz. ×2 + 1.34sINFOros2_control_node[2026-09-08 14:25:16.695] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 1.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.66sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.66sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.67sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.67sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.67sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.67sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.67sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.68sINFOros2-6process has finished cleanly [pid 7334] ×2 + 1.98sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.98sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 2.03sINFOros2-3process has finished cleanly [pid 7331] ×2 + 2.04sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.04sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.41sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 2.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 2.47sINFOros2-5process has finished cleanly [pid 7333] ×2 + 2.48sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.48sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.48sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.48sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.48sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.81sINFOobjective_server_nodecaller: ×14 + 2.81sINFOobjective_server_nodetype: 0 ×14 + 2.81sINFOobjective_server_nodename: "" ×14 + 2.81sINFOobjective_server_nodeinstance_id: "" ×14 + 2.81sINFOobjective_server_node ×14 + 2.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.81sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.83sINFOros2-4process has finished cleanly [pid 7332] ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 2.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 2.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 2.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.97sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 2.97sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.31sINFOros2-7process has finished cleanly [pid 7335] ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 4.44sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 5.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 7.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.99sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.07sINFOobjective_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 + 8.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.20sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 8.20sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 26 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7).[0m ×2 + 1.78sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 528 info |
+ 0.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7334] ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7331] ×2 + 0.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7333] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.85sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7332] ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 1.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 1.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.67sINFOros2-7process has finished cleanly [pid 7335] ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.7s | 26 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7).[0m ×2 + 0.74sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.76sINFOobjective_server_nodecaller: ×6 + 2.76sINFOobjective_server_nodetype: 0 ×6 + 2.76sINFOobjective_server_nodename: "" ×6 + 2.76sINFOobjective_server_nodeinstance_id: "" ×6 + 2.76sINFOobjective_server_node ×6 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.59sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.35sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 138 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788877622.04796100 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788877622.64292049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788877622.72305202 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.58sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-08 14:25:53.490] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 14:25:53.490] [info] Accepted new action goal ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204672 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204672 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.49sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 4.78sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-08 14:30:39.521] [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: 1788877839.52692962 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.85sINFOobjective_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 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877843.60547948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877844.22560167 seconds ×3 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3).[0m ×2 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622752 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622752 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2).[0m ×2 + 0.96sINFOobjective_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 + 0.97sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Got request to cancel active goal. ×2 + 0.97sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Canceling active goal... ×2 + 0.97sERRORobjective_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: 1788877839.52692962 seconds ×3 + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.51sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.51sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.51sINFOobjective_server_nodecaller: ×8 + 1.51sINFOobjective_server_nodetype: 0 ×8 + 1.51sINFOobjective_server_nodename: "" ×8 + 1.51sINFOobjective_server_nodeinstance_id: "" ×8 + 1.51sINFOobjective_server_node ×8 + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788877843.60547948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916366 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788877844.22560167 seconds ×3 + 5.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583101 ms (missed cycles : 3).[0m ×2 + 6.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622752 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.1s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124873 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043577 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368425 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_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: 1788877544.51327276 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788877545.10616970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788877545.19630480 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527687 ms (missed cycles : 4).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788877545.83730745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (7.37e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:25:46.041] [info] Accepted new action goal ×2 + 3.72sWARNros2_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 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218592 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804771 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025079 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930076 ms (missed cycles : 2).[0m ×2 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-08 14:25:55.251] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333411 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788877556.53747082 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254312 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788877557.15767455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788877557.20779538 seconds ×3 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593584 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788877557.86004758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-08 14:25:57.985] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849332 ms (missed cycles : 5).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679129 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658782 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355851 ms (missed cycles : 4).[0m ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-09-08 14:26:06.041] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812189 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733005 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-09-08 14:26:08.120] [info] Canceling active goal... ×2 + 2.86sERRORobjective_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: 1788877568.13261962 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.156999 ms (missed cycles : 8).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788877568.77161264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 14:26:08.975] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521686 ms (missed cycles : 3).[0m ×2 + 5.09sWARNros2_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 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219742 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335985 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508386 ms (missed cycles : 3).[0m ×2 + 0.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 0.88sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 0.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757285 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757285 ms (missed cycles : 3).[0m ×2 + 1.02sINFOobjective_server_nodeFound path in 1 iterations (0.00533563 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________X_______________X] ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.27sINFOros2_control_node[2026-09-08 14:26:29.008] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-09-08 14:26:29.008] [info] Accepted new action goal ×2 + 1.67sINFOros2_control_node[2026-09-08 14:26:29.410] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-09-08 14:26:29.410] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835194 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835194 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOros2_control_node[2026-09-08 14:26:30.022] [info] Got request to cancel active goal. ×2 + 2.28sINFOros2_control_node[2026-09-08 14:26:30.022] [info] Canceling active goal... ×2 + 2.30sERRORobjective_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: 1788877590.04104495 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1788877590.75734043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424682 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424682 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_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 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970911 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.970911 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.31sINFOros2_control_node[2026-09-08 14:26:32.052] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-08 14:26:32.052] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759198 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759198 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 138 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203237 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711397 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916368 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788877622.04796100 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788877622.64292049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788877622.72305202 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050739 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.58sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788877623.51106453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 14:27:03.637] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266395 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100927 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788877625.64119053 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023718 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788877627.25663495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966387 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-08 14:27:07.675] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.424324 ms (missed cycles : 6).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701333 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530717 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530717 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067710 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067710 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006866 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006866 ms (missed cycles : 2).[0m ×2 + 2.96sWARNros2_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 + 3.06sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788877680.53752589 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132891 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132891 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_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: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788877681.20258474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.93sINFOros2_control_node[2026-09-08 14:28:01.406] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-08 14:28:01.406] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164721 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164721 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_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 + 5.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675259 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675259 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675736 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675736 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2098 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×335 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×335 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2098 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×335 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×335 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2098 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×335 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×335 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2098 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×335 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×335 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2098 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×335 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×335 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×670 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×670 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995371 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671561 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717259 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788877747.15035105 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368818 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788877747.84263897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-08 14:29:08.036] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930125 ms (missed cycles : 2).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123030 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675798 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.477845 ms (missed cycles : 6).[0m ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-08 14:29:15.337] [info] Accepted new action goal ×2 + 0.24sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142817 ms (missed cycles : 2).[0m ×2 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-09-08 14:29:17.097] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567006 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_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 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-08 14:29:18.012] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788877758.02856159 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830067 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788877758.69497228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-08 14:29:18.879] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687850 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456181 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811204 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393358 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393358 ms (missed cycles : 3).[0m ×2 + 0.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528742 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528742 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117084 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117084 ms (missed cycles : 4).[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 + 2.53sERRORobjective_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: 1788877769.01543450 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788877769.61108518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474081 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474081 ms (missed cycles : 6).[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.44sINFOros2_control_node[2026-09-08 14:29:29.927] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-08 14:29:29.927] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226982 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226982 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296486 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296486 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523409 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523409 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099935 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099935 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573503 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573503 ms (missed cycles : 4).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788877779.52927566 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788877780.15149212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532303 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532303 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.21sINFOros2_control_node[2026-09-08 14:29:40.285] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-08 14:29:40.285] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782462 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782462 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027990 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027990 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550771 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.550771 ms (missed cycles : 7).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661133 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661133 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343346 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343346 ms (missed cycles : 6).[0m ×2 + 2.49sINFOobjective_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 + 2.49sERRORobjective_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: 1788877790.52175260 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.10sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.10sINFOobjective_server_nodecaller: ×2 + 3.10sINFOobjective_server_nodetype: 0 ×2 + 3.10sINFOobjective_server_nodename: "" ×2 + 3.10sINFOobjective_server_nodeinstance_id: "" ×2 + 3.10sINFOobjective_server_node ×2 + 3.17sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1788877791.19593048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371807 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371807 ms (missed cycles : 4).[0m ×2 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245996 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245996 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-09-08 14:29:52.510] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-09-08 14:29:52.510] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256673 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256673 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7).[0m ×2 + 1.78sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7).[0m ×2 + 1.78sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408932 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939956 ms (missed cycles : 7).[0m ×2 + 1.78sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 5.38sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519910 ms (missed cycles : 4).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357481 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1788877827.11610603 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.02sINFOobjective_server_nodecaller: ×6 + 2.02sINFOobjective_server_nodetype: 0 ×6 + 2.02sINFOobjective_server_nodename: "" ×6 + 2.02sINFOobjective_server_nodeinstance_id: "" ×6 + 2.02sINFOobjective_server_node ×6 + 2.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788877827.72428918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788877827.85441518 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267576 ms (missed cycles : 5).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788877828.49681568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788877828.52902722 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910064 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788877829.13153982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-09-08 14:30:29.255] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977087 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457057 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883502 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1788877839.52692962 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_nodecaller: ×6 + 3.72sINFOobjective_server_nodetype: 0 ×6 + 3.72sINFOobjective_server_nodename: "" ×6 + 3.72sINFOobjective_server_nodeinstance_id: "" ×6 + 3.72sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.02sINFOobjective_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 + 6.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125298 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317942 ms (missed cycles : 4).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890046 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-08 14:30:39.521] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1788877839.52692962 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373391 ms (missed cycles : 4).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.72sINFOobjective_server_nodecaller: ×6 + 3.72sINFOobjective_server_nodetype: 0 ×6 + 3.72sINFOobjective_server_nodename: "" ×6 + 3.72sINFOobjective_server_nodeinstance_id: "" ×6 + 3.72sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788877840.13514566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695044 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788877841.76531029 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.287757 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.02sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788877842.36469150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.02sINFOobjective_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 + 6.02sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.02sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788877842.36667562 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724424 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788877843.01367188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788877843.01415849 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.9s | 39 warnings · 751 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-08-14-25-11-350617-2793f6c4f164-7281 ×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. + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379655 ms (missed cycles : 2). + 0.85sINFOros2_control_node-1process started with pid [7329] ×2 + 0.85sINFOmove_group-9process started with pid [7366] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7367] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7368] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7369] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7372] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7379] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7384] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7385] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7388] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7389] ×2 + 0.86sINFOweb_bridge-19process started with pid [7390] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7454] ×2 + 0.86sINFOvideo_server-21process started with pid [7455] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7456] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7457] ×2 + 0.86sINFOros2-2process started with pid [7330] ×2 + 0.86sINFOros2-3process started with pid [7331] ×2 + 0.86sINFOros2-4process started with pid [7332] ×2 + 0.86sINFOros2-5process started with pid [7333] ×2 + 0.86sINFOros2-6process started with pid [7334] ×2 + 0.86sINFOros2-7process started with pid [7335] ×2 + 0.86sINFOros2-8process started with pid [7336] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379655 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOvideo_server2026/09/08 14:25:12 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.19sINFOvideo_server2026/09/08 14:25:12 INF configuration loaded from /tmp/moveit-webrtc-_5nldrj2/mediamtx.yml ×2 + 1.20sINFOvideo_server2026/09/08 14:25:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.20sINFOvideo_server2026/09/08 14:25:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sINFOmove_group[2026-09-08 14:25:13.437] [moveit_pro_license] [info] ×2 + 1.71sINFOmove_group************************************************* ×4 + 1.71sINFOmove_group* MoveIt Pro License ×2 + 1.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.03sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.03sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.04sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.04sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.08sINFOmove_group ×4 + 2.08sINFOmove_group[92mYou can start planning now![0m ×2 + 2.13sINFOwaypoint_manager_node[2026-09-08 14:25:13.861] [moveit_pro_license] [info] ×2 + 2.13sINFOwaypoint_manager_node************************************************* ×4 + 2.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285257 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285257 ms (missed cycles : 4).[0m ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.14sINFOobjective_server_node[2026-09-08 14:25:14.873] [moveit_pro_license] [info] ×2 + 3.14sINFOobjective_server_node************************************************* ×4 + 3.15sINFOobjective_server_node* MoveIt Pro License ×2 + 3.15sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.27sINFOobjective_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 + 3.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.28sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.82sINFOcomponent_container_mt[2026-09-08 14:25:15.545] [moveit_pro_license] [info] ×2 + 3.82sINFOcomponent_container_mt************************************************* ×4 + 3.82sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.82sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.89sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.89sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 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 + 3.90sINFOros2_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 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 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 + 3.90sINFOros2_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 + 3.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 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 + 4.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 4.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 4.17sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.17sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.20sINFOros2_control_node[2026-09-08 14:25:15.928] [info] Controller state will be published at 20 Hz. ×2 + 4.20sINFOros2_control_node[2026-09-08 14:25:15.929] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.41sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.41sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.41sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475140 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475140 ms (missed cycles : 2).[0m ×2 + 4.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 4.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 4.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.49sINFOros2-8process has finished cleanly [pid 7336] ×2 + 4.49sINFOforce_torque_sensor_broadcasterconfigure successful + 4.49sINFOros2_control_nodeconfigure successful[0m ×2 + 4.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.49sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.80sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.80sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.80sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.82sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.83sINFOros2-2process has finished cleanly [pid 7330] ×2 + 4.88sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 4.88sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 4.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.92sINFOros2_control_node[2026-09-08 14:25:16.650] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.92sINFOros2_control_node[2026-09-08 14:25:16.650] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.96sINFOros2_control_node[2026-09-08 14:25:16.688] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.96sINFOros2_control_node[2026-09-08 14:25:16.688] [info] Controller state will be published at 50 Hz. ×2 + 4.97sINFOros2_control_node[2026-09-08 14:25:16.695] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.26sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.26sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.26sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.26sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.26sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 5.26sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 5.27sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.27sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.30sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.30sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.30sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.31sINFOros2-6process has finished cleanly [pid 7334] ×2 + 5.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.61sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 5.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 5.66sINFOros2-3process has finished cleanly [pid 7331] ×2 + 5.66sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.67sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.67sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.67sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.67sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.67sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.67sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.67sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.68sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 6.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 6.10sINFOros2-5process has finished cleanly [pid 7333] ×2 + 6.11sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.11sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.11sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.12sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.44sINFOobjective_server_nodecaller: ×10 + 6.44sINFOobjective_server_nodetype: 0 ×10 + 6.44sINFOobjective_server_nodename: "" ×10 + 6.44sINFOobjective_server_nodeinstance_id: "" ×10 + 6.44sINFOobjective_server_node ×10 + 6.44sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.44sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.44sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.44sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.46sINFOros2-4process has finished cleanly [pid 7332] ×2 + 6.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 6.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 6.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 6.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.60sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 6.60sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.94sINFOros2-7process has finished cleanly [pid 7335] ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.06sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.12sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 8.07sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 8.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.79sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 9.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 9.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 10.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 345 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7335] ×2 + 0.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.12sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.12sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.12sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.12sINFOobjective_server_nodecaller: ×12 + 0.12sINFOobjective_server_nodetype: 0 ×12 + 0.12sINFOobjective_server_nodename: "" ×12 + 0.12sINFOobjective_server_nodeinstance_id: "" ×12 + 0.12sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 1.13sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 2.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.89sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.97sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 7.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 437 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.07sINFOros2-5process has finished cleanly [pid 7333] ×2 + 0.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.40sINFOobjective_server_nodecaller: ×14 + 0.40sINFOobjective_server_nodetype: 0 ×14 + 0.40sINFOobjective_server_nodename: "" ×14 + 0.40sINFOobjective_server_nodeinstance_id: "" ×14 + 0.40sINFOobjective_server_node ×14 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOros2-4process has finished cleanly [pid 7332] ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 0.48sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 0.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOros2-7process has finished cleanly [pid 7335] ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.08sINFOros2_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 2.809212 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.79sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.63sINFOros2_control_node[2026-09-08 14:25:26.097] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-09-08 14:25:26.097] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 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/2026-09-08-14-25-11-350617-2793f6c4f164-7281 ×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. + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379655 ms (missed cycles : 2). + 0.85sINFOros2_control_node-1process started with pid [7329] ×2 + 0.85sINFOmove_group-9process started with pid [7366] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7367] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7368] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7369] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7372] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7379] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7384] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7385] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7388] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [7389] ×2 + 0.86sINFOweb_bridge-19process started with pid [7390] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7454] ×2 + 0.86sINFOvideo_server-21process started with pid [7455] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7456] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7457] ×2 + 0.86sINFOros2-2process started with pid [7330] ×2 + 0.86sINFOros2-3process started with pid [7331] ×2 + 0.86sINFOros2-4process started with pid [7332] ×2 + 0.86sINFOros2-5process started with pid [7333] ×2 + 0.86sINFOros2-6process started with pid [7334] ×2 + 0.86sINFOros2-7process started with pid [7335] ×2 + 0.86sINFOros2-8process started with pid [7336] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379655 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.19sINFOvideo_server2026/09/08 14:25:12 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.19sINFOvideo_server2026/09/08 14:25:12 INF configuration loaded from /tmp/moveit-webrtc-_5nldrj2/mediamtx.yml ×2 + 1.20sINFOvideo_server2026/09/08 14:25:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.20sINFOvideo_server2026/09/08 14:25:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.52sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.71sINFOmove_group[2026-09-08 14:25:13.437] [moveit_pro_license] [info] ×2 + 1.71sINFOmove_group************************************************* ×4 + 1.71sINFOmove_group* MoveIt Pro License ×2 + 1.71sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 1.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 1.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.03sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.03sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.03sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.03sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.04sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.04sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.08sINFOmove_group ×4 + 2.08sINFOmove_group[92mYou can start planning now![0m ×2 + 2.13sINFOwaypoint_manager_node[2026-09-08 14:25:13.861] [moveit_pro_license] [info] ×2 + 2.13sINFOwaypoint_manager_node************************************************* ×4 + 2.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285257 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285257 ms (missed cycles : 4).[0m ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.14sINFOobjective_server_node[2026-09-08 14:25:14.873] [moveit_pro_license] [info] ×2 + 3.14sINFOobjective_server_node************************************************* ×4 + 3.15sINFOobjective_server_node* MoveIt Pro License ×2 + 3.15sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.27sINFOobjective_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 + 3.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.28sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.28sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 528 info |
+ 0.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7334] ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7331] ×2 + 0.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7333] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.85sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7332] ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 1.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 1.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.67sINFOros2-7process has finished cleanly [pid 7335] ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 528 info |
+ 0.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7334] ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7331] ×2 + 0.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7333] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.85sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7332] ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 1.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 1.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.67sINFOros2-7process has finished cleanly [pid 7335] ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 528 info |
+ 0.00sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.00sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.03sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7334] ×2 + 0.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.34sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7331] ×2 + 0.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.81sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 7333] ×2 + 0.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.85sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.19sINFOros2-4process has finished cleanly [pid 7332] ×2 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 1.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 1.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 1.33sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.67sINFOros2-7process has finished cleanly [pid 7335] ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 437 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.07sINFOros2-5process has finished cleanly [pid 7333] ×2 + 0.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.40sINFOobjective_server_nodecaller: ×14 + 0.40sINFOobjective_server_nodetype: 0 ×14 + 0.40sINFOobjective_server_nodename: "" ×14 + 0.40sINFOobjective_server_nodeinstance_id: "" ×14 + 0.40sINFOobjective_server_node ×14 + 0.41sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.41sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.41sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOros2-4process has finished cleanly [pid 7332] ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788877518.22221351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788877518.23247290 seconds ×3 + 0.48sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k56_p5ko --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hxz0_g47 --params-file /tmp/launch_params_k1j2it8j [0m ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603449 ms (missed cycles : 4).[0m ×2 + 0.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-09-08 14:25:18.326] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-08 14:25:18.327] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOros2-7process has finished cleanly [pid 7335] ×2 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.08sINFOros2_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 2.809212 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 5.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.79sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7335] ×2 + 0.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.12sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.12sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.12sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.12sINFOobjective_server_nodecaller: ×12 + 0.12sINFOobjective_server_nodetype: 0 ×12 + 0.12sINFOobjective_server_nodename: "" ×12 + 0.12sINFOobjective_server_nodeinstance_id: "" ×12 + 0.12sINFOobjective_server_node ×12 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788877518.84423065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 1.13sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 2.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.89sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.63sINFOros2_control_node[2026-09-08 14:25:26.097] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-09-08 14:25:26.097] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 318 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809212 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788877519.95448828 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396389 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.05sINFOobjective_server_nodecaller: ×10 + 1.05sINFOobjective_server_nodetype: 0 ×10 + 1.05sINFOobjective_server_nodename: "" ×10 + 1.05sINFOobjective_server_nodeinstance_id: "" ×10 + 1.05sINFOobjective_server_node ×10 + 1.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788877520.57249665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788877520.63270497 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788877521.29235268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788877521.31249261 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350609 ms (missed cycles : 4).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788877521.90744233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788877522.05807209 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062355 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788877522.74890995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788877522.80903316 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.94sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788877523.41242194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (9.8896e-05 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 14:25:23.559] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944123 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503696 ms (missed cycles : 5).[0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885402 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||